相关论文: Real-Time 4D Radar Perception for Robust Human Det…
mmWave radar has been shown as an effective sensing technique in low visibility, smoke, dusty, and dense fog environment. However tapping the potential of radar sensing to reconstruct 3D object shapes remains a great challenge, due to the…
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…
In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of adverse lighting conditions, such as low or no light,…
Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…
The increasing deployment of small drones as tools of conflict and disruption has amplified their threat, highlighting the urgent need for effective anti-drone measures. However, the compact size of most drones presents a significant…
Mm-wave radars have recently gathered significant attention as a means to track human movement and identify subjects from their gait characteristics. A widely adopted method to perform the identification is the extraction of the…
Most smart systems such as smart home and smart health response to human's locations and activities. However, traditional solutions are either require wearable sensors or lead to leaking privacy. This work proposes an ambient radar solution…
The challenge of 3D multi-object tracking is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches…
Adverse weather conditions can negatively affect LiDAR-based object detectors. In this work, we focus on the phenomenon of vehicle gas exhaust condensation in cold weather conditions. This everyday effect can influence the estimation of…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Target detection is pivotal for modern urban computing applications. While image-based techniques are widely adopted, they falter under challenging environmental conditions such as adverse weather, poor lighting, and occlusion. To improve…
In this paper, we present a real-time robust multi-view pedestrian detection and tracking system for video surveillance using neural networks which can be used in dynamic environments. The proposed system consists of two phases: multi-view…
In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…
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…
In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…
We address adaptive radar detection of targets embedded in ground clutter dominated environments characterized by a symmetrically structured power spectral density. At the design stage, we leverage on the spectrum symmetry for the…
Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…
"This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible." Driver's interaction with a vehicle via automatic gesture recognition is…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…