相关论文: Robust High-Speed State Estimation for Off-road Na…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Frequency Modulated Continuous Wave (FMCW) radar is a promising sensor for aided inertial navigation, due to its robustness in environments that challenge traditional alternatives, such as LiDAR and vision. However, its widespread adoption…
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…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
Mobile robot autonomy has made significant advances in recent years, with navigation algorithms well developed and used commercially in certain well-defined environments, such as warehouses. The common link in usage scenarios is that the…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Odometry is a crucial component for successfully implementing autonomous navigation, relying on sensors such as cameras, LiDARs and IMUs. However, these sensors may encounter challenges in extreme weather conditions, such as snowfall and…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. In this letter, we present the first…
Frequency-modulated continuous-wave (FMCW) scanning radar has emerged as an alternative to spinning LiDAR for state estimation on mobile robots. Radar's longer wavelength is less affected by small particulates, providing operational…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Reliable outdoor deployment of mobile robots requires the robust identification of permissible driving routes in a given environment. The performance of LiDAR and vision-based perception systems deteriorates significantly if certain…
Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data association. FMCW lidar is a recently emerging technology that…
This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…
Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor…
This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…