相关论文: Towards Efficient Roadside LiDAR Deployment: A Fas…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

Autonomous vehicle manufacturers recognize that LiDAR provides accurate 3D views and precise distance measures under highly uncertain driving conditions. Its practical implementation, however, remains costly. This paper investigates the…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Vehicle trajectory prediction is central to highway perception, but deployment on roadside edge devices necessitates bounded, deterministic end-to-end latency. We present EdgeVTP, an embedded-first trajectory predictor that combines…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

The ever-increasing heavy traffic congestion potentially impedes the accessibility of emergency vehicles (EVs), resulting in detrimental impacts on critical services and even safety of people's lives. Hence, it is significant to propose an…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Enhancing the spatio-temporal observability of distributed energy resources (DERs) is crucial for achieving secure and efficient operations in distribution grids. This paper puts forth a joint recovery framework for residential loads by…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR state estimation system for AVs. Firstly, we utilize LiDAR to…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

We propose a fast and robust method to estimate the ground surface from LIDAR measurements on an automated vehicle. The ground surface is modeled as a UBS which is robust towards varying measurement densities and with a single parameter…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

This work quantitatively evaluates the performance of event-based vision systems (EVS) against conventional RGB-based models for action prediction in collision avoidance on an FPGA accelerator. Our experiments demonstrate that the EVS model…

Intelligent Transportation Systems (ITS) can benefit from roadside 4D mmWave radar sensors for large-scale traffic monitoring due to their weatherproof functionality, long sensing range and low manufacturing cost. However, the localization…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Traffic management in a city has become a major problem due to the increasing number of vehicles on roads. Intelligent Transportation System (ITS) can help the city traffic managers to tackle the problem by providing accurate traffic…

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…

Detection and classification of vehicles are very significant components in an Intelligent-Transportation System. Existing solutions not only use heavy-weight and costly equipment, but also largely depend on constant cloud (Internet)…