相关论文: Haul Road Mapping from GPS Traces
Automated guided vehicles (AGVs) are widely used in various industries, and scheduling and routing them in a conflict-free manner is crucial to their efficient operation. We propose a loop-based algorithm that solves the online,…
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods, this paper presents an autonomous multi-robot system for highway litter monitoring and…
There are many benefits for exploring and exploiting underground mines, but there are also significant risks and challenges. One such risk is the potential for accidents caused by the collapse of the pillars, and roofs which can be…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
Automatic Extraction of road network from satellite images is a goal that can benefit and even enable new technologies. Methods that combine machine learning (ML) and computer vision have been proposed in recent years which make the task…
High-definition (HD) map is a fundamental component of autonomous driving systems, as it can provide precise environmental information about driving scenes. Recent work on vectorized map generation could produce merely 65% local map…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
High Definition (HD) maps are maps with precise definitions of road lanes with rich semantics of the traffic rules. They are critical for several key stages in an autonomous driving system, including motion forecasting and planning.…
Maintaining accurate, up-to-date maps is important in any dynamic urban landscape, supporting various aspects of modern society, such as urban planning, navigation, and emergency response. However, traditional (i.e. largely manual) map…
To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame…
High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…
A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…
The robust and safe operation of automated vehicles underscores the critical need for detailed and accurate topological maps. At the heart of this requirement is the construction of lane graphs, which provide essential information on lane…
Road maintenance is an essential process for guaranteeing the quality of transportation in any city. A crucial step towards effective road maintenance is the ability to update the inventory of the road network. We present a proof of concept…
We present route packing, a novel (geo)visualization technique for displaying several routes simultaneously on a geographic map while preserving the geospatial layout, identity, directionality, and volume of individual routes. The technique…
Maps are an important source of information in archaeology and other sciences. Users want to search for historical maps to determine recorded history of the political geography of regions at different eras, to find out where exactly…
Continuous transportation of material in the mining industry is achieved by the dispatch of autonomous haul-trucks with discrete haulage capacities. Recently, Monte Carlo Tree Search (MCTS) was successfully deployed in tackling challenges…
It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree…