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

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Existing radar sensors can be classified into automotive and scanning radars. While most radar odometry (RO) methods are only designed for a specific type of radar, our RO method adapts to both scanning and automotive radars. Our RO is…

Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors,…

In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…

In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features…

The derivation of radial velocities from large numbers of spectra that typically result from survey work, requires automation. However, except for the classical cases of slowly rotating late-type spectra, existing methods of measuring…

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images…

Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…

Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…

Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and…

Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and noisy radar measurements remains a critical challenge. In this…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

Today's state-of-the-art methods for 3D object detection are based on lidar, stereo, or monocular cameras. Lidar-based methods achieve the best accuracy, but have a large footprint, high cost, and mechanically-limited angular sampling…

Doppler tomography is a method to compute the emissivity distribution within the co-rotating frames of binary stars from observations of their emission line profiles at multiple orbital phases. A key assumption of the method as it is…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

In many robotics and VR/AR applications, fast camera motions lead to a high level of motion blur, causing existing camera pose estimation methods to fail. In this work, we propose a novel framework that leverages motion blur as a rich cue…

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled…

Micro-Doppler-based target classification capabilities of the automotive radars can provide high reliability and short latency to the future active safety automotive features. A large number of pedestrians surrounding vehicle in practical…

Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…