相关论文: Doppler Correspondence: Non-Iterative Scan Matchin…

We tackle the problem of establishing dense pixel-wise correspondences between a pair of images. In this work, we introduce Dual-Resolution Correspondence Networks (DualRC-Net), to obtain pixel-wise correspondences in a coarse-to-fine…

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…

A novel learning-optimization-combined 4D radar odometry model, named DNOI-4DRO, is proposed in this paper. The proposed model seamlessly integrates traditional geometric optimization with end-to-end neural network training, leveraging an…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints. Though seemingly natural, how to efficiently…

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…

Dominant paradigms for 4D LiDAR panoptic segmentation are usually required to train deep neural networks with large superimposed point clouds or design dedicated modules for instance association. However, these approaches perform redundant…

In passive radar, a network of distributed sensors exploit signals from so-called Illuminators-of-Opportunity to detect and localize targets. We consider the case where the IO signal is available at each receiver node through a reference…

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…

Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar systems, in particular, have drawn increasing attention thanks…

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…

Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…

Dense point tracking is a fundamental problem in computer vision, with applications ranging from video analysis to robotic manipulation. State-of-the-art trackers typically rely on cost volumes to match features across frames, but this…

In order to tackle the challenge of unfavorable weather conditions such as rain and snow, radar is being revisited as a parallel sensing modality to vision and lidar. Recent works have made tremendous progress in applying spinning radar to…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

We develop a technique to measure radial velocities of stars from spectra that present four sets of lines. The algorithm is an extension of the two-dimensional cross-correlation method TODCOR to four dimensions. It computes the correlation…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automotive radar, commercially available spinning radar systems…