相关论文: Doppler-only Single-scan 3D Vehicle Odometry

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

Cameras and 2D laser scanners, in combination, are able to provide low-cost, light-weight and accurate solutions, which make their fusion well-suited for many robot navigation tasks. However, correct data fusion depends on precise…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…

We present a method to infer 3D pose and shape of vehicles from a single image. To tackle this ill-posed problem, we optimize two-scale projection consistency between the generated 3D hypotheses and their 2D pseudo-measurements.…

We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…

Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…

Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to…

The motion distortion in LiDAR scans caused by aggressive robot motion and varying terrain features significantly impacts the positioning and mapping performance of 3D LiDAR odometry. Existing distortion correction solutions often struggle…

Monocular 3D object detection is an essential task in autonomous driving. However, most current methods consider each 3D object in the scene as an independent training sample, while ignoring their inherent geometric relations, thus…

Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Accurate 3D scene flow estimation is critical for autonomous systems to navigate dynamic environments safely, but creating the necessary large-scale, manually annotated datasets remains a significant bottleneck for developing robust…

We present a new solution to tracking and mapping with an event camera. The motion of the camera contains both rotation and translation, and the displacements happen in an arbitrarily structured environment. As a result, the image matching…

We present a novel approach to detect, segment, and reconstruct complete textured 3D models of vehicles from a single image for autonomous driving. Our approach combines the strengths of deep learning and the elegance of traditional…