相关论文: Leveraging Dynamic Objects for Relative Localizati…
The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Localization on 3D data is a challenging task for unmanned vehicles, especially in long-term dynamic urban scenarios. Due to the generality and long-term stability, the pole-like objects are very suitable as landmarks for unmanned vehicle…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
In this paper, we propose a novel road side unit (RSU)-assisted cooperative sensing scheme for connected autonomous vehicles (CAVs), with the objective to reduce completion time of sensing tasks. Specifically, LiDAR sensing data of both RSU…
Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
Active Traffic Management strategies are often adopted in real-time to address such sudden flow breakdowns. When queuing is imminent, Speed Harmonization (SH), which adjusts speeds in upstream traffic to mitigate traffic showckwaves…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
The primary goal of this paper is to localize objects in a group of semantically similar images jointly, also known as the object co-localization problem. Most related existing works are essentially weakly-supervised, relying prominently on…
Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…