1,409 research outputs found
Radar-only ego-motion estimation in difficult settings via graph matching
Radar detects stable, long-range objects under variable weather and lighting
conditions, making it a reliable and versatile sensor well suited for
ego-motion estimation. In this work, we propose a radar-only odometry pipeline
that is highly robust to radar artifacts (e.g., speckle noise and false
positives) and requires only one input parameter. We demonstrate its ability to
adapt across diverse settings, from urban UK to off-road Iceland, achieving a
scan matching accuracy of approximately 5.20 cm and 0.0929 deg when using GPS
as ground truth (compared to visual odometry's 5.77 cm and 0.1032 deg). We
present algorithms for keypoint extraction and data association, framing the
latter as a graph matching optimization problem, and provide an in-depth system
analysis.Comment: 6 content pages, 1 page of references, 5 figures, 4 tables, 2019 IEEE
International Conference on Robotics and Automation (ICRA
Intelligent Multi-Modal Sensing-Communication Integration: Synesthesia of Machines
In the era of sixth-generation (6G) wireless communications, integrated
sensing and communications (ISAC) is recognized as a promising solution to
upgrade the physical system by endowing wireless communications with sensing
capability. Existing ISAC is mainly oriented to static scenarios with
radio-frequency (RF) sensors being the primary participants, thus lacking a
comprehensive environment feature characterization and facing a severe
performance bottleneck in dynamic environments. To date, extensive surveys on
ISAC have been conducted but are limited to summarizing RF-based radar sensing.
Currently, some research efforts have been devoted to exploring multi-modal
sensing-communication integration but still lack a comprehensive review.
Therefore, we generalize the concept of ISAC inspired by human synesthesia to
establish a unified framework of intelligent multi-modal sensing-communication
integration and provide a comprehensive review under such a framework in this
paper. The so-termed Synesthesia of Machines (SoM) gives the clearest cognition
of such intelligent integration and details its paradigm for the first time. We
commence by justifying the necessity of the new paradigm. Subsequently, we
offer a definition of SoM and zoom into the detailed paradigm, which is
summarized as three operation modes. To facilitate SoM research, we overview
the prerequisite of SoM research, i.e., mixed multi-modal (MMM) datasets. Then,
we introduce the mapping relationships between multi-modal sensing and
communications. Afterward, we cover the technological review on
SoM-enhance-based and SoM-concert-based applications. To corroborate the
superiority of SoM, we also present simulation results related to dual-function
waveform and predictive beamforming design. Finally, we propose some potential
directions to inspire future research efforts.Comment: This paper has been accepted by IEEE Communications Surveys &
Tutorial
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
We survey the current state of millimeterwave (mmWave) radar applications in
robotics with a focus on unique capabilities, and discuss future opportunities
based on the state of the art. Frequency Modulated Continuous Wave (FMCW)
mmWave radars operating in the 76--81GHz range are an appealing alternative to
lidars, cameras and other sensors operating in the near visual spectrum. Radar
has been made more widely available in new packaging classes, more convenient
for robotics and its longer wavelengths have the ability to bypass visual
clutter such as fog, dust, and smoke. We begin by covering radar principles as
they relate to robotics. We then review the relevant new research across a
broad spectrum of robotics applications beginning with motion estimation,
localization, and mapping. We then cover object detection and classification,
and then close with an analysis of current datasets and calibration techniques
that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin
Multi-User Gesture Recognition with Radar Technology
The aim of this work is the development of a Radar system for consumer applications. It is capable of tracking multiple people in a room and offers a touchless human-machine interface for purposes that range from entertainment to hygiene
A Study of Types of Sensors used in Remote Sensing
Of late, the science of Remote Sensing has been gaining a lot of interest and attention due to its wide variety of applications. Remotely sensed data can be used in various fields such as medicine, agriculture, engineering, weather forecasting, military tactics, disaster management etc. only to name a few. This article presents a study of the two categories of sensors namely optical and microwave which are used for remotely sensing the occurrence of disasters such as earthquakes, floods, landslides, avalanches, tropical cyclones and suspicious movements. The remotely sensed data acquired either through satellites or through ground based- synthetic aperture radar systems could be used to avert or mitigate a disaster or to perform a post-disaster analysis
A Study of Types of Sensors used in Remote Sensing
Of late, the science of Remote Sensing has been gaining a lot of interest and attention due to its wide variety of applications. Remotely sensed data can be used in various fields such as medicine, agriculture, engineering, weather forecasting, military tactics, disaster management etc. only to name a few. This article presents a study of the two categories of sensors namely optical and microwave which are used for remotely sensing the occurrence of disasters such as earthquakes, floods, landslides, avalanches, tropical cyclones and suspicious movements. The remotely sensed data acquired either through satellites or through ground based- synthetic aperture radar systems could be used to avert or mitigate a disaster or to perform a post-disaster analysis
Proceedings of the Augmented VIsual Display (AVID) Research Workshop
The papers, abstracts, and presentations were presented at a three day workshop focused on sensor modeling and simulation, and image enhancement, processing, and fusion. The technical sessions emphasized how sensor technology can be used to create visual imagery adequate for aircraft control and operations. Participants from industry, government, and academic laboratories contributed to panels on Sensor Systems, Sensor Modeling, Sensor Fusion, Image Processing (Computer and Human Vision), and Image Evaluation and Metrics
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