相关论文: RAMBA: 4D Radar Mapping by Bundle Adjustment
Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…
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…
Recent advances in self-supervised learning for Vision Transformers (ViTs) have fueled breakthroughs in remote sensing (RS) foundation models. However, the quadratic complexity of self-attention poses a significant barrier to scalability,…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Millimeter-wave radars are being increasingly integrated into commercial vehicles to support new advanced driver-assistance systems by enabling robust and high-performance object detection, localization, as well as recognition - a key…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…
Most existing works focus on improving robustness against adversarial attacks bounded by a single $l_p$ norm using adversarial training (AT). However, these AT models' multiple-norm robustness (union accuracy) is still low, which is crucial…
4-dimensional (4D) radar is increasingly adopted in autonomous driving for perception tasks, owing to its robustness under adverse weather conditions. To better utilize the spatial information inherent in 4D radar data, recent deep learning…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
The 4D millimeter-wave (mmWave) radar, proficient in measuring the range, azimuth, elevation, and velocity of targets, has attracted considerable interest within the autonomous driving community. This is attributed to its robustness in…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…
Accurate characterization of modern on-chip antennas remains challenging, as current probe-station techniques offer limited angular coverage, rely on bespoke hardware, and require frequent manual alignment. This research introduces RAPTAR…
Domain adaptation remains a challenge when there is significant manifold discrepancy between source and target domains. Although recent methods leverage manifold-aware adversarial perturbations to perform data augmentation, they often…
Radio map (RM) has recently attracted much attention since it can provide real-time and accurate spatial channel information for 6G services and applications. However, current deep learning-based methods for RM construction exhibit well…
Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse conditions. However, radar data is sparse and noisy,…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous…