相关论文: Physically-Based Simulation of Automotive LiDAR

The core task of any autonomous driving system is to transform sensory inputs into driving commands. In end-to-end driving, this is achieved via a neural network, with one or multiple cameras as the most commonly used input and low-level…

We propose a 3D latent representation that jointly models object geometry and view-dependent appearance. Most prior works focus on either reconstructing 3D geometry or predicting view-independent diffuse appearance, and thus struggle to…

Neural networks can represent and accurately reconstruct radiance fields for static 3D scenes (e.g., NeRF). Several works extend these to dynamic scenes captured with monocular video, with promising performance. However, the monocular…

Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…

This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

We propose a semi-analytical modeling of smoothed laser beams deviation induced by plasma flows. Based on a Gaussian description of speckles, the model includes spatial, temporal and polarization smoothing techniques,through fits issued…

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…

The introduction of light emitting diodes (LED) in automotive exterior lighting systems provides opportunities to develop viable alternatives to conventional communication and sensing technologies. Most of the advanced driver-assist and…

Current and next-generation particle tracking detectors will incorporate precision timing capabilities with resolutions approaching tens of picoseconds. Using Technology Computer-Aided Design (TCAD) simulations of Low-Gain Avalanche Diode…

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…

The growing use of photonic integrated circuits in light detection and ranging (LiDAR) sensors has made the speckle and phase distribution of the reflected light relevant for coupling into the guided modes of these systems. We adopt the use…

We consider the inverse problem of fitting atmospheric dispersion parameters based on time-resolved back-scattered differential absorption Lidar (DIAL) measurements. The obvious advantage of light-based remote sensing modalities is their…

Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We…

Accurate simulation and validation of advanced driver assistance systems requires accurate sensor models. Modeling automotive radar is complicated by effects such as multipath reflections, interference, reflective surfaces, discrete cells,…

LiDAR sensors can be used to obtain a wide range of measurement signals other than a simple 3D point cloud, and those signals can be leveraged to improve perception tasks like 3D object detection. A single laser pulse can be partially…

We introduce Mask-ToF, a method to reduce flying pixels (FP) in time-of-flight (ToF) depth captures. FPs are pervasive artifacts which occur around depth edges, where light paths from both an object and its background are integrated over…

We present an image generation methodology based on ray tracing that can be used to render realistic images of Particle Image Velocimetry (PIV) and Background Oriented Schlieren (BOS) experiments in the presence of density/refractive index…

Light-in-flight (LIF) imaging is the measurement and reconstruction of light's path as it moves and interacts with objects. It is well known that relativistic effects can result in apparent velocities that differ significantly from the…

Controlling the phase and amplitude of light emitted by the elements (i.e., pixels) of an optical phased array is of paramount importance to realizing dynamic beam steering for LIDAR applications. In this paper, we propose a plasmonic pixel…