269 citations · 1.5k across the 54 of their papers we have counts for
16 papers · 1 filter
Road Curb Detection Using A Novel Tensor Voting Algorithm
Yilong Zhu, Dong Han, Bohuan Xue +4
Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this…
Robust Lane Marking Detection Algorithm Using Drivable Area Segmentation and Extended SLT
Umar Ozgunalp, Rui Fan, Shanshan Cheng +7
In this paper, a robust lane detection algorithm is proposed, where the vertical road profile of the road is estimated using dynamic programming from the v-disparity map and, based…
Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape
Bohuan Xue, Jianhao Jiao, Yilong Zhu +4
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has br…
Autonomous UAV Landing System Based on Visual Navigation
Zhixin Wu, Peng Han, Ruiwen Yao +7
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable…
A Robust Pavement Mapping System Based on Normal-Constrained Stereo Visual Odometry
Huaiyang Huang, Rui Fan, Yilong Zhu +2
Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry…
Low-Cost GPS-Aided LiDAR State Estimation and Map Building
Linwei Zheng, Yilong Zhu, Bohuan Xue +2
Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR s…
Real-Time, Environmentally-Robust 3D LiDAR Localization
Yilong Zhu, Bohuan Xue, Linwei Zheng +3
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment usin…
Road Damage Detection Based on Unsupervised Disparity Map Segmentation
Rui Fan, Ming Liu
This paper presents a novel road damage detection algorithm based on unsupervised disparity map segmentation. Firstly, a disparity map is transformed by minimizing an energy functi…
Pothole Detection Based on Disparity Transformation and Road Surface Modeling
Rui Fan, Umar Ozgunalp, Brett Hosking +2
Pothole detection is one of the most important tasks for road maintenance. Computer vision approaches are generally based on either 2D road image analysis or 3D road surface modeli…
A Robust Roll Angle Estimation Algorithm Based on Gradient Descent
Rui Fan, Lujia Wang, Ming Liu +1
This paper presents a robust roll angle estimation algorithm, which is developed from our previously published work, where the roll angle was estimated from a dense disparity map b…
Key Ingredients of Self-Driving Cars
Rui Fan, Jianhao Jiao, Haoyang Ye +3
Over the past decade, many research articles have been published in the area of autonomous driving. However, most of them focus only on a specific technological area, such as visua…
Automatic Calibration of Multiple 3D LiDARs in Urban Environments
Jianhao Jiao, Yang Yu, Qinghai Liao +2
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively aff…
A Novel Dual-Lidar Calibration Algorithm Using Planar Surfaces
Jianhao Jiao, Qinghai Liao, Yilong Zhu +5
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration o…
Road Crack Detection Using Deep Convolutional Neural Network and Adaptive Thresholding
Rui Fan, Mohammud Junaid Bocus, Yilong Zhu +5
Crack is one of the most common road distresses which may pose road safety hazards. Generally, crack detection is performed by either certified inspectors or structural engineers.…
Real-Time Dense Stereo Embedded in A UAV for Road Inspection
Rui Fan, Jianhao Jiao, Jie Pan +3
The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision…
Using DP Towards A Shortest Path Problem-Related Application
Jianhao Jiao, Rui Fan, Han Ma +1
The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them a…