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cs.RO2026
U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
Zehao Wang, Yuxuan Tang, Han Zhang +2
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navig…
cs.RO2025
Registering the 4D Millimeter Wave Radar Point Clouds Via Generalized Method of Moments
Xingyi Li, Han Zhang, Ziliang Wang +2
4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they ar…
cs.RO2025
A 4D Radar Camera Extrinsic Calibration Tool Based on 3D Uncertainty Perspective N Points
Chuan Cao, Xiaoning Wang, Wenqian Xi +3
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20 of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity informa…