4 accepted papers
In this article, we present a perception-based full-stack system for autonomous vehicle following that does not rely on accurate global localization or map data. Our architecture consists of modules for vehicle communication, localization, object tracking, waypoint management, static environment mod…
Stereo matching can be used to estimate dense but inaccurate depth information for each pixel of a camera image. A LiDAR can provide accurate but sparse depth measurements. The fusion of both can combine their advantages. We propose an efficient method for fusing stereo and LiDAR at the cost level o…
For autonomous driving in urban environments it is usually assumed that the road is flat. To drive off-road, however, we need a more sophisticated model of the ground surface. While previous work is mapping the terrain along with static obstacles, we propose to separate the tasks and introduce a new…
Fiducial markers like AprilTags play an important role in robotics, e.g., for the calibration of cameras or the localization of robots. One of the most important properties of an algorithm for detecting such tags is its localization accuracy.In this paper, we present the results of an extensive comp…