相关论文: Histogram-less LiDAR through SPAD response lineari…

The photoneutron source (PNS, phase 1), an electron linear accelerator (linac)-based pulsed neutron facility that uses the time-of-flight (TOF) technique, was constructed for the acquisition of nuclear data from the thorium molten salt…

Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…

Dead time effects have been considered a major limitation for fast data acquisition in various time-correlated single photon counting applications, since a commonly adopted approach for dead time mitigation is to operate in the low-flux…

Despite the substantial demand for high-quality, large-area building maps, no established open-source workflow for generating 2D and 3D maps currently exists. This study introduces an automated, open-source workflow for large-scale 2D and…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

Active 3D imaging systems have broad applications across disciplines, including biological imaging, remote sensing and robotics. Applications in these domains require fast acquisition times, high timing resolution, and high detection…

Light detection and ranging (LiDAR) has been widely used in autonomous driving and large-scale manufacturing. Although state-of-the-art scanning LiDAR can perform long-range three-dimensional imaging, the frame rate is limited by both…

Time-of-flight (TOF) cameras are based on a new technology that delivers distance maps by the use of a modulated light source. In this paper we first describe a set of experiments that we performed with TOF cameras. We then propose a noise…

Conventional wisdom suggests that single-photon lidar (SPL) should operate in low-light conditions to minimize dead-time effects. Many methods have been developed to mitigate these effects in synchronous SPL systems. However, solutions for…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…

Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…

Light-weight time-of-flight (ToF) depth sensors are small, cheap, low-energy and have been massively deployed on mobile devices for the purposes like autofocus, obstacle detection, etc. However, due to their specific measurements (depth…

This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Lidar has become a cornerstone sensing modality for 3D vision, especially for large outdoor scenarios and autonomous driving. Conventional lidar sensors are capable of providing centimeter-accurate distance information by emitting laser…

Zero-shot 4D segmentation and recognition of arbitrary objects in Lidar is crucial for embodied navigation, with applications ranging from streaming perception to semantic mapping and localization. However, the primary challenge in…

We present a novel single-shot interferometric ToF camera targeted for precise 3D measurements of dynamic objects. The camera concept is based on Synthetic Wavelength Interferometry, a technique that allows retrieval of depth maps of…