相关论文: Physically-Based Simulation of Automotive LiDAR

We describe an experiment, located in south-east Colorado, USA, that measured aerosol optical depth profiles using two Lidar techniques. Two independent detectors measured scattered light from a vertical UV laser beam. One detector, located…

This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…

This paper presents the first large-scale real-world evaluation for using LiDAR data to guide the mmWave beam prediction task. A machine learning (ML) model that leverages the LiDAR sensory data to predict the current and future beams was…

Active depth sensors like structured light, lidar, and time-of-flight systems sample the depth of the entire scene uniformly at a fixed scan rate. This leads to limited spatio-temporal resolution where redundant static information is…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…

LiDAR scenes constitute a fundamental source for several autonomous driving applications. Despite the existence of several datasets, scenes from adverse weather conditions are rarely available. This limits the robustness of downstream…

The flux, polarimetric and spectral response of phased array radio telescopes with no moving parts such as LOFAR is known to vary considerably with orientation of the source to the receivers. Calibration models exist for this dependency…

Instrumental aberrations strongly limit high-contrast imaging of exoplanets, especially when they produce quasistatic speckles in the science images. With the help of recent advances in deep learning, we have developed in previous works an…

In this paper, we address the limitations of traditional constant false alarm rate (CFAR) target detectors in automotive radars, particularly in complex urban environments with multiple objects that appear as extended targets. We propose a…

An accurate odometry is essential for legged-wheel robots operating in unstructured terrains such as bumpy roads and staircases. Existing methods often suffer from pose drift due to their ignorance of terrain geometry. We propose a…

A theoretical model is developed for the interaction of intense femtosecond laser pulses with solid targets on the basis of the two-temperature equation of state for an irradiated substance. It allows the description of the dynamics of the…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

Methods for Novel View Synthesis (NVS) have recently found traction in the field of LiDAR simulation and large-scale 3D scene reconstruction. While solutions for faster rendering or handling dynamic scenes have been proposed, LiDAR specific…

Autonomous driving is a major paradigm shift in transportation, with the potential to enhance safety, optimize traffic congestion, and reduce fuel consumption. Although autonomous vehicles rely on advanced sensors and on-board computing…

Vision-centric perception systems for autonomous driving have gained considerable attention recently due to their cost-effectiveness and scalability, especially compared to LiDAR-based systems. However, these systems often struggle in…

For developing safe Autonomous Driving Systems (ADS), rigorous testing is required before they are deemed safe for road deployments. Since comprehensive conventional physical testing is impractical due to cost and safety concerns, Virtual…

Estimating surface reflectance (BRDF) is one key component for complete 3D scene capture, with wide applications in virtual reality, augmented reality, and human computer interaction. Prior work is either limited to controlled environments…

For autonomous vehicles, an accurate calibration for LiDAR and camera is a prerequisite for multi-sensor perception systems. However, existing calibration techniques require either a complicated setting with various calibration targets, or…

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…