5 citations · 10 across the 12 of their papers we have counts for
13 papers
Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?
Daniil Lisus, Keenan Burnett, David J. Yoon +3
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automot…
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this…
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using a Gaussian process motion prior. Using a sparse prior, we demonstrate improved computa…
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
Daniil Lisus, Johann Laconte, Keenan Burnett +2
This paper presents a novel deep-learning-based approach to improve localizing radar measurements against lidar maps. This radar-lidar localization leverages the benefits of both s…
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon, Keenan Burnett, Johann Laconte +5
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data assoc…
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Yuchen Wu, David J. Yoon, Keenan Burnett +4
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the…
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon +2
We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weathe…
Boreas: A Multi-Season Autonomous Driving Dataset
Keenan Burnett, David J. Yoon, Yuchen Wu +9
The Boreas dataset was collected by driving a repeated route over the course of one year, resulting in stark seasonal variations and adverse weather conditions such as rain and fal…
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning
Keenan Burnett, David J. Yoon, Angela P. Schoellig +1
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature ne…
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
In order to tackle the challenge of unfavorable weather conditions such as rain and snow, radar is being revisited as a parallel sensing modality to vision and lidar. Recent works…
Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition
Keenan Burnett, Jingxing Qian, Xintong Du +14
The SAE AutoDrive Challenge is a three-year collegiate competition to develop a self-driving car by 2020. The second year of the competition was held in June 2019 at MCity, a mock…
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
Keenan Burnett, Sepehr Samavi, Steven L. Waslander +2
The University of Toronto is one of eight teams competing in the SAE AutoDrive Challenge -- a competition to develop a self-driving car by 2020. After placing first at the Year 1 c…
Building a Winning Self-Driving Car in Six Months
Keenan Burnett, Andreas Schimpe, Sepehr Samavi +5
The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Ou…