相关论文: G-VOM: A GPU Accelerated Voxel Off-Road Mapping Sy…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
With the rapid growth of Vehicular Ad-Hoc Networks (VANETs), huge amounts of road condition data are constantly being generated and sent to the cloud for processing. However, this introduces a significant load on the network bandwidth…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…
We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…
Both the Mobile edge computing (MEC)-based and fog computing (FC)-aided Internet of Vehicles (IoV) constitute promising paradigms of meeting the demands of low-latency pervasive computing. To this end, we construct a dynamic NOMA-based…
Rogue nodes broadcasting false information in beacon messages may lead to catastrophic consequences in Vehicular Ad Hoc Networks (VANETs). Previous researchers used either cryptography, trust scores, or past vehicle data to detect rogue…
This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible…
Recently we have witnessed progress in hiding road vehicles against object detectors through adversarial camouflage in the digital world. The extension of this technique to the physical world is crucial for testing the robustness of…
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…
In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical limitations. It is crucial to efficiently solve the…
While High Definition (HD) Maps have long been favored for their precise depictions of static road elements, their accessibility constraints and susceptibility to rapid environmental changes impede the widespread deployment of autonomous…
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…
This work presents a comprehensive benchmark evaluation of visual odometry (VO) and visual SLAM (VSLAM) systems for mobile robot navigation in real-world logistical environments. We compare multiple visual odometry approaches across…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…