相关论文: A Multi-modal Detection System for Infrastructure-…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

Most existing perception systems rely on sensory data acquired from cameras, which perform poorly in low light and adverse weather conditions. To resolve this limitation, we have witnessed advanced LiDAR sensors become popular in perception…

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…

Stack interchanges are essential components of transportation systems. Mobile laser scanning (MLS) systems have been widely used in road infrastructure mapping, but accurate mapping of complicated multi-layer stack interchanges are still…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

This paper presents a novel real-time, delay-aware cooperative perception system designed for intelligent mobility platforms operating in dynamic indoor environments. The system contains a network of multi-modal sensor nodes and a central…

- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…

Recent works have considered two qualitatively different approaches to overcome line-of-sight limitations of 3D sensors used for perception: cooperative perception and infrastructure-augmented perception. In this paper, motivated by…

Vehicle location prediction or vehicle tracking is a significant topic within connected vehicles. This task, however, is difficult if only a single modal data is available, probably causing bias and impeding the accuracy. With the…

3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…

Multi-modal systems have the capacity of producing more reliable results than systems with a single modality in road detection due to perceiving different aspects of the scene. We focus on using raw sensor inputs instead of, as it is…

Proactive safety systems that anticipate and mitigate traffic risks before incidents occur are increasingly recognized as essential for improving work zone safety. Unlike traditional reactive methods, these systems rely on real-time…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…

Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…