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

Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…

We propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, a SVBRDF, and 3D spatially-varying lighting. Because multi-view images provide a variety of information about the scene,…

In this paper, a LiDAR-inertial odometry (LIO) method that eliminates the influence of moving objects in dynamic driving scenarios is proposed. This method constructs binarized labels for 3D points of current sweep, and utilizes the label…

Reliable position and attitude sensing is critical for highly automated vehicles that operate on conventional roadways. Lidar sensors are increasingly incorporated into pose-estimation systems. Despite its great utility, lidar is a complex…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

To perform high speed tasks, sensors of autonomous cars have to provide as much information in as few time steps as possible. However, radars, one of the sensor modalities autonomous cars heavily rely on, often only provide sparse, noisy…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…

Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

It is important, but challenging, for the forest industry to accurately map roads which are used for timber transport by trucks. In this work, we propose a Dense Dilated Convolutions Merging Network (DDCM-Net) to detect these roads in lidar…

Alternative navigation technology to global navigation satellite systems (GNSSs) is required for unmanned ground vehicles (UGVs) in multipath environments (such as urban areas). In urban areas, long-term evolution (LTE) signals can be…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Lidar is a well known optical technology for measuring a target's range and radial velocity. We describe two lidar systems that use entanglement between transmitted signals and retained idlers to obtain significant quantum enhancements in…

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

There has recently been growing interest in utilizing multimodal sensors to achieve robust lane line segmentation. In this paper, we introduce a novel multimodal fusion architecture from an information theory perspective, and demonstrate…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…