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Integration of Visual SLAM into Consumer-Grade Automotive Localization
Luis Diener, Jens Kalkkuhl, Markus Enzweiler
Accurate ego-motion estimation in consumer-grade vehicles currently relies on proprioceptive sensors, i.e. wheel odometry and IMUs, whose performance is limited by systematic error…
Lateral Velocity Model for Vehicle Parking Applications
Luis Diener, Jens Kalkkuhl, Markus Enzweiler
Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estima…
Radar-Based Odometry for Low-Speed Driving
Luis Diener, Jens Kalkkuhl, Markus Enzweiler
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using in…
NeRF and Gaussian Splatting SLAM in the Wild
Fabian Schmidt, Markus Enzweiler, Abhinav Valada
Navigating outdoor environments with visual Simultaneous Localization and Mapping (SLAM) systems poses significant challenges due to dynamic scenes, lighting variations, and season…
ROVER: A Multi-Season Dataset for Visual SLAM
Fabian Schmidt, Julian Daubermann, Marcel Mitschke +4
Robust SLAM is a crucial enabler for autonomous navigation in natural, semi-structured environments such as parks and gardens. However, these environments present unique challenges…