相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
3D Gaussian Splatting (3DGS) allows flexible adjustments to scene representation, enabling continuous optimization of scene quality during dense visual simultaneous localization and mapping (SLAM) in static environments. However, 3DGS faces…
With growing urbanization worldwide, efficient management of traffic infrastructure is critical for transportation agencies and city planners. It is essential to have tools that help analyze large volumes of stored traffic data and make…
Recent work has focused on generating synthetic imagery to increase the size and variability of training data for learning visual tasks in urban scenes. This includes increasing the occurrence of occlusions or varying environmental and…
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…
Road inspection is crucial for maintaining road serviceability and ensuring traffic safety, as road defects gradually develop and compromise functionality. Traditional inspection methods, which rely on manual evaluations, are…
Drones shooting can be applied in dynamic traffic monitoring, object detecting and tracking, and other vision tasks. The variability of the shooting location adds some intractable challenges to these missions, such as varying scale,…
Digital twins of urban environments play a critical role in advancing autonomous vehicle (AV) research by enabling simulation, validation, and integration with emerging generative world models. While existing tools have demonstrated value,…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
Accurate observation of dynamic environments traditionally relies on synthesizing raw, signal-level information from multiple distributed sensors. This work investigates an alternative approach: performing geospatial inference using only…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…
Recent studies in Vision-and-Language Navigation (VLN) train RL agents to execute natural-language navigation instructions in photorealistic environments, as a step towards robots that can follow human instructions. However, given the…
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…
360-degree visual content is widely shared on platforms such as YouTube and plays a central role in virtual reality, robotics, and autonomous navigation. However, consumer-grade dual-fisheye systems consistently yield imperfect panoramas…
There is an increasing popularity in exploiting modern vehicles as mobile sensors to obtain important road information such as potholes, black ice and road profile. Availability of such information has been identified as a key enabler for…
In the study, the social robot act as a patrol to recognize and notify illegal parking in real-time. Dual-model pipeline method and large multimodal model were compared, and the GPT-4o multimodal model was adopted in license plate…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
Automotive Simulation is a potentially cost-effective strategy to identify and test corner case scenarios in automotive perception. Recent work has shown a significant shift in creating realistic synthetic data for road traffic scenarios…
Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…