相关论文: Centimeter-level Positioning by Instantaneous Lida…

Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Accurate environmental perception is critical for advanced driver assistance systems (ADAS). Light detection and ranging (LiDAR) systems play a crucial role in ADAS; they can reliably detect obstacles and help ensure traffic safety.…

Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their ability to model complex errors using data. However,…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…

Detection and classification of vehicles are very significant components in an Intelligent-Transportation System. Existing solutions not only use heavy-weight and costly equipment, but also largely depend on constant cloud (Internet)…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…

Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…

This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Current and next-generation particle tracking detectors will incorporate precision timing capabilities with resolutions approaching tens of picoseconds. Using Technology Computer-Aided Design (TCAD) simulations of Low-Gain Avalanche Diode…

Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…