相关论文: CREVE: An Acceleration-based Constraint Approach f…
Reliable and weather-robust perception systems are essential for safe autonomous driving and typically employ multi-modal sensor configurations to achieve comprehensive environmental awareness. While recent automotive FMCW Radar-based…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Classifying streaming data requires the development of methods which are computationally efficient and able to cope with changes in the underlying distribution of the stream, a phenomenon known in the literature as concept drift. We propose…
Recently, camera-radar fusion-based 3D object detection methods in bird's eye view (BEV) have gained attention due to the complementary characteristics and cost-effectiveness of these sensors. Previous approaches using forward projection…
Reinforcement learning (RL) is a promising approach for robotic navigation, allowing robots to learn through trial and error. However, real-world robotic tasks often suffer from sparse rewards, leading to inefficient exploration and…
Effective disaster response relies on rapid disaster response, where oblique aerial video is the primary modality for initial scouting due to its ability to maximize spatial coverage and situational awareness in limited flight time.…
Multi-access Edge Computing (MEC) addresses computational and battery limitations in devices by allowing them to offload computation tasks. To overcome the difficulties in establishing line-of-sight connections, integrating unmanned aerial…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…
The optimization of quality of experience (QoE) in multi-user virtual reality (VR) interactions demands a delicate balance between ultra-low latency, high-fidelity motion synchronization, and equitable resource allocation. While adaptive…
In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially…
The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…
The designation of the radar system is to detect the position and velocity of targets around us. The radar transmits a waveform, which is reflected back from the targets, and echo waveform is received. In a commonly used model, the echo is…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
The Andrew's sine function is a robust estimator, which has been used in outlier rejection and robust statistics. However, the performance of such estimator does not receive attention in the field of adaptive filtering techniques. Two…
This paper considers the problem of multi-target detection for massive multiple input multiple output (MMIMO) cognitive radar (CR). The concept of CR is based on the perception-action cycle that senses and intelligently adapts to the…
The $\ell_0$-constrained mean-CVaR model poses a significant challenge due to its NP-hard nature, typically tackled through combinatorial methods characterized by high computational demands. From a markedly different perspective, we propose…
Ensuring safety in autonomous driving requires precise, real-time risk assessment and adaptive behavior. Prior work on risk estimation either outputs coarse, global scene-level metrics lacking interpretability, proposes indicators without…
Virtual Reality is regaining attention due to recent advancements in hardware technology. Immersive images / videos are becoming widely adopted to carry omnidirectional visual information. However, due to the requirements for higher spatial…
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…