Autonomous vehicles rely on their perception systems to acquire information about their
immediate surroundings. It is necessary to detect the presence of other vehicles …

Point cloud is a widely used 3D data form, which can be produced by depth sensors, such
as Light Detection and Ranging (LIDAR) and RGB-D cameras. Being unordered and …

Robust object recognition is a crucial skill for robots operating autonomously in real world
environments. Range sensors such as LiDAR and RGBD cameras are increasingly found in …

Place recognition in 3D data is a challenging task that has been commonly approached by
adapting image-based solutions. Methods based on local features suffer from ambiguity and …

Perception is a vital part of driving. Every year, the loss in visibility due to snow, fog, and rain
causes serious accidents worldwide. Therefore, it is important to be aware of the impact of …

Object segmentation from 3D range data is an important topic in mobile robotics. A robot
navigating in a dynamic environment needs to be aware of objects that might change or …

Loop closure detection is of vital importance in the process of simultaneous localization and
mapping (SLAM), as it helps to reduce the cumulative error of the robot's estimated pose and …

We present a system for the detection of small and potentially obscured obstacles in
vegetated terrain. The key novelty of this system is the coupling of a volumetric occupancy …

In this paper we deal with the problem of odometry and localization for Lidar-equipped
vehicles driving in urban environments, where a premade target map exists to localize …

The ability to extract individual objects in the scene is key for a large number of autonomous
navigation systems such as mobile robots or autonomous cars. Such systems navigating in …