相关论文: Robust High-Speed State Estimation for Off-road Na…

This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy Criterion Kalman Filtering (AMCCKF), is inherently robust…

Off-road freespace detection is more challenging than on-road scenarios because of the blurred boundaries of traversable areas. Previous state-of-the-art (SOTA) methods employ multi-modal fusion of RGB images and LiDAR data. However, due to…

In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…

This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localization and…

Accurate soil mapping is critical for a highly-automated agricultural vehicle to successfully accomplish important tasks including seeding, ploughing, fertilising and controlled traffic, with limited human supervision, ensuring at the same…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

Maritime environmental sensing requires overcoming challenges from complex conditions such as harsh weather, platform perturbations, large dynamic objects, and the requirement for long detection ranges. While cameras and LiDAR are commonly…

Simultaneous Localization and Mapping (SLAM) in large-scale, complex, and GPS-denied underground coal mine environments presents significant challenges. Sensors must contend with abnormal operating conditions: GPS unavailability impedes…

Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…

Solid-state LiDAR-inertial SLAM has attracted significant attention due to its advantages in speed and robustness. However, achieving accurate mapping in extreme environments remains challenging due to severe geometric degeneracy and…

Anti-collision assistance, integral to the current drive towards increased vehicular autonomy, relies heavily on precise detection and localization of moving targets in the vehicle's vicinity. A crucial step towards achieving this is the…

Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…

This paper presents a novel signal processing technique, coined grid hopping, as well as an active multistatic Frequency-Modulated Continuous Wave (FMCW) radar system designed to evaluate its performance. The design of grid hopping is…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring,…

The scarcity and low diversity of well-annotated automotive radar datasets often limit the performance of deep-learning-based environmental perception. To overcome these challenges, we propose a conditional generative framework for…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

This paper describes important considerations and challenges associated with online reinforcement-learning based waveform selection for target identification in frequency modulated continuous wave (FMCW) automotive radar systems. We present…