相关论文: OdomBeyondVision: An Indoor Multi-modal Multi-plat…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
Compared with an extensive list of automotive radar datasets that support autonomous driving, indoor radar datasets are scarce at a smaller scale in the format of low-resolution radar point clouds and usually under an open-space single-room…
We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…
Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community…
In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Indoor human monitoring systems leverage a wide range of sensors, including cameras, radio devices, and inertial measurement units, to collect extensive data from users and the environment. These sensors contribute diverse data modalities,…
Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
This paper presents Multimodal-Wireless, a large-scale open-source dataset for multimodal sensing and communication research. The dataset is generated through an integrated and customizable data pipeline built upon the CARLA simulator and…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…
This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual features, and extracted LiDAR points. In particular, the proposed…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…
Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar systems, in particular, have drawn increasing attention thanks…
Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…
Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…
Maritime environmental sensing requires overcoming challenges from complex conditions such as harsh weather, platform perturbations, large dynamic objects, and the requirement for long detection ranges. While cameras and LiDAR are commonly…