相关论文: S$^3$E: Self-Supervised State Estimation for Radar…
Frequency Modulated Continuous Wave (FMCW) radar has been widely applied in automotive anti-collision systems, automatic cruise control, and indoor monitoring. However, conventional analog-to-digital converters (ADCs) can suffer from…
Radar perception models are trained with different inputs, from range-Doppler spectra to sparse point clouds. Dense spectra are assumed to outperform sparse point clouds, yet they can vary considerably across sensors and configurations,…
Motivated by the advances in deep learning techniques, the application of Unmanned Aerial Vehicle (UAV)-based object detection has proliferated across a range of fields, including vehicle counting, fire detection, and city monitoring. While…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear dynamics is leveraged utilizing state-…
Millimeter-wave (mmWave) radar provides reliable perception in visually degraded indoor environments (e.g., smoke, dust, and low light), but learning-based radar perception is bottlenecked by the scarcity and cost of collecting and…
Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that can quantitatively evaluate the accuracy of a 3D pointcloud…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Multispectral imaging plays a critical role in a range of intelligent transportation applications, including advanced driver assistance systems (ADAS), traffic monitoring, and night vision. However, accurate visible and thermal (RGB-T)…
New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of…
Displaced automotive sensor imaging exploits joint processing of the data acquired from multiple radar units, each of which may have limited individual resources, to enhance the localization accuracy. Prior works either consider perfect…
This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. In other words, at each time, the attacker…
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…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Masked autoencoders (MAE) have become a dominant paradigm in 3D representation learning, setting new performance benchmarks across various downstream tasks. Existing methods with fixed mask ratio neglect multi-level representational…
Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. Despite the radar antenna's cone of emission and reception,…
This paper addresses the secure state estimation problem for continuous linear time-invariant systems with non-periodic and asynchronous sampled measurements, where the sensors need to transmit not only measurements but also sampling…
Accurate power system state estimation (PSSE) is an essential prerequisite for reliable operation of power systems. Different from static PSSE, dynamic PSSE can exploit past measurements based on a dynamical state evolution model, offering…
Estimating spatial extremes from sparse observational networks produces uncertain return level maps, but dense output from physics-based simulation models is often available as a complementary data source. We develop a two-stage frequentist…