相关论文: Range-Aided LiDAR-Inertial Multi-Vehicle Mapping i…

Statistical tracking filters depend on accurate target measurements and uncertainty estimates for good tracking performance. In this work, we propose novel machine learning models for target detection and uncertainty estimation in…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

Simultaneous Localization and Mapping (SLAM) is a fundamental task to mobile and aerial robotics. LiDAR based systems have proven to be superior compared to vision based systems due to its accuracy and robustness. In spite of its…

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…

Recently, LiDAR segmentation methods for autonomous vehicles, powered by deep neural networks, have experienced steep growth in performance on classic benchmarks, such as nuScenes and SemanticKITTI. However, there are still large gaps in…

Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends on the precision of onboard sensors and reliable in-field…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

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…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…