相关论文: Ranging Performance Analysis in Automotive DToF Li…
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…
Environment perception is a fundamental part of the dynamic driving task executed by Autonomous Driving Systems (ADS). Artificial Intelligence (AI)-based approaches have prevailed over classical techniques for realizing the environment…
Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher…
Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…
LiDAR-based roadside perception is a cornerstone of advanced Intelligent Transportation Systems (ITS). While considerable research has addressed optimal LiDAR placement for infrastructure, the profound impact of differing LiDAR scanning…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Cameras and LiDAR are essential sensors for autonomous vehicles. The fusion of camera and LiDAR data addresses the limitations of individual sensors but relies on precise extrinsic calibration. Recently, numerous end-to-end calibration…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
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…
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…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
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…
In this work, we present a detailed comparison of ten different 3D LiDAR sensors, covering a range of manufacturers, models, and laser configurations, for the tasks of mapping and vehicle localization, using as common reference the Normal…
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…
Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…
Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
Light Detection and Ranging (LiDAR) technology in consumer-grade mobile devices can be used as a replacement for traditional background removal and compositing techniques. Unlike approaches such as chroma keying and trained AI models,…
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…
3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…