相关论文: VISC: mmWave Radar Scene Flow Estimation using Per…

It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of…

The ability to image high-dynamic-range (HDR) scenes is crucial in many computer vision applications. The dynamic range of conventional sensors, however, is fundamentally limited by their well capacity, resulting in saturation of bright…

Intelligent Transportation Systems (ITS) require reliable environmental perception to support safe and efficient transportation. With the rapid development of Vehicle-to-everything (V2X), roadside perception has become an effective means to…

In the case of vector flow imaging systems, the most employed flow estimation techniques are the directional beamforming based cross correlation and the triangulation-based autocorrelation. However, the directional beamforming-based…

Vision-language models enable the understanding and reasoning of complex traffic scenarios through multi-source information fusion, establishing it as a core technology for autonomous driving. However, existing vision-language models are…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…

The 4D millimeter-wave (mmWave) radar, with its robustness in extreme environments, extensive detection range, and capabilities for measuring velocity and elevation, has demonstrated significant potential for enhancing the perception…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

Pervasive sensing in industrial and underground environments is severely constrained by airborne dust, smoke, confined geometry, and metallic structures, which rapidly degrade optical and LiDAR based perception. Elevation resolved 4D mmWave…

Compared with an extensive list of automotive radar datasets that support autonomous driving, indoor radar datasets are scarce at a smaller scale in the format of low-resolution radar point clouds and usually under an open-space single-room…

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…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…

Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…

The 4D Millimeter wave (mmWave) radar is a promising technology for vehicle sensing due to its cost-effectiveness and operability in adverse weather conditions. However, the adoption of this technology has been hindered by sparsity and…

Intelligent Transportation Systems (ITSs) require ultra-low end-to-end delays and multi-gigabit-per-second data transmission. Millimetre Waves (mmWaves) communications can fulfil these requirements. However, the increased mobility of…

Event cameras offer promising properties, such as high temporal resolution and high dynamic range. These benefits have been utilized into many machine vision tasks, especially optical flow estimation. Currently, most existing event-based…