相关论文: LiDAR-Based Vehicle Detection and Tracking for Aut…

For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such as Roborace, F1Tenth, or the Indy Autonomous Challenge…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…

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…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

This paper develops and summarizes the work of building the autonomous integrated system including perception system and vehicle dynamic controller for a formula student autonomous racecar. We propose a system framework combining X-by-wired…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper presents the redundant perception and state estimation approaches…

LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…