相关论文: SLAMSpoof: Practical LiDAR Spoofing Attacks on Loc…

In a spoofing attack, an attacker impersonates a legitimate user to access or modify data belonging to the latter. Typical approaches for spoofing detection in the physical layer declare an attack when a change is observed in certain…

Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…

LiDAR sensors are widely used in autonomous vehicles to better perceive the environment. However, prior works have shown that LiDAR signals can be spoofed to hide real objects from 3D object detectors. This study explores the feasibility of…

Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Autonomous Vehicles (AVs) increasingly depend on Multi-Sensor Fusion (MSF) to combine complementary modalities such as cameras and LiDAR for robust perception. While this redundancy is intended to safeguard against single-sensor failures,…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…

Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…

This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides…

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection systems to perceive other vehicles and pedestrians on the road. While existing attacks on LiDAR-based autonomous driving architectures focus on lowering the confidence…

Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors,…

Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

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…

This paper presents a pioneering solution to the task of integrating mobile 3D LiDAR and inertial measurement unit (IMU) data with existing building information models or point clouds, which is crucial for achieving precise long-term…

High-definition maps provide precise environmental information essential for prediction and planning in autonomous driving systems. Due to the high cost of labeling and maintenance, recent research has turned to online HD map construction…