相关论文: Terrain-based vehicle localization using an active…
Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…
We present a multi-stage optimization method for efficient sensor deployment in traffic surveillance scenarios. Based on a genetic optimization scheme, our algorithm places an optimal number of roadside sensors to obtain full road coverage…
In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
Radio-based localization in dynamic environments, such as urban and vehicular settings, requires systems that efficiently adapt to varying signal conditions and environmental changes. Factors like multipath interference and obstructions…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
Accurate vehicle localization is indispensable to autonomous vehicles, but is difficult to realize in complicated application scenarios. Intersection scenarios that suffer from environmental shielding and crowded dynamic objects are…
We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
Characterizing driving styles of human drivers using vehicle sensor data, e.g., GPS, is an interesting research problem and an important real-world requirement from automotive industries. A good representation of driving features can be…
Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…
In recent years, automated driving has become viable, and advanced driver assistance systems (ADAS) are now part of modern cars. These systems require highly precise positioning. In this paper, a cooperative approach to localization is…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
Both assistant driving and self-driving have attracted a great amount of attention in the last few years. However, the majority of research efforts focus on safe driving; few research has been conducted on in-vehicle climate control, or…
Navigation and positioning systems dependent on both the operating environment and the behaviour of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning and the behaviour can…
Real-time parking occupancy information is critical for a parking management system to facilitate drivers to park more efficiently. Recent advances in connected and automated vehicle technologies enable sensor-equipped cars (probe cars) to…
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…