相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…

Conducting safety simulations in various simulators, such as the Gazebo simulator, became a very popular means of testing vehicles against potential safety risks (i.e. crashes). However, this was not the case with security testing.…

High-resolution radar sensors are critical for autonomous systems but pose significant challenges to traditional tracking algorithms due to the generation of multiple measurements per object and the presence of multipath effects. Existing…

Global Navigation Satellite System (GNSS) spoofing and jamming threaten maritime navigation by corrupting positions from Automatic Identification System (AIS) transponders. Crucially, raw AIS messages contain communication-layer defects…

This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…

Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…

Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…

This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels…

This article discusses the use of a simulated environment to predict algorithm results in the real world. Simulators are crucial in allowing researchers to test algorithms, sensor integration, and navigation systems without deploying…

Collaboration using mixed reality technology is an active area of research, where significant research is done to virtually bridge physical distances. There exist a diverse set of platforms and devices that can be used for a mixed-reality…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

This paper presents a physics-consistent digital twin framework for end-to-end modeling and evaluation of Global Navigation Satellite Systems (GNSS) user receiver equipment. In contrast to conventional GNSS simulations that rely on…

Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

The popular robotic simulator, Gazebo, lacks the feature of simulating the effects of control latency that would make it a fully-fledged cyber-physical system (CPS) simulator. The CPS that we address to measure is a robotic arm (UR5)…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

Curb ramps are critical for urban accessibility, but robustly detecting them in images remains an open problem due to the lack of large-scale, high-quality datasets. While prior work has attempted to improve data availability with…

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…

The study of complex many-body systems via analysis of the trajectories of the units that dynamically move and interact within them is a non-trivial task. The workflow for extracting meaningful information from the raw trajectory data is…

Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and…

Potholes on the roads are a serious hazard and maintenance burden. This poses a significant threat to road safety and vehicle longevity, especially on the diverse and under-maintained roads of India. In this paper, we present a complete…