5 papers
Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenes
Muhammad Ibrahim, Naveed Akhtar, Haitian Wang +2
Fusion of LiDAR and RGB data has the potential to enhance outdoor 3D object detection accuracy. To address real-world challenges in outdoor 3D object detection, fusion of LiDAR and…
LiDAR, GNSS and IMU Sensor Fine Alignment through Dynamic Time Warping to Construct 3D City Maps
Haitian Wang, Hezam Albaqami, Xinyu Wang +5
LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework tha…
Geo-Registration of Terrestrial LiDAR Point Clouds with Satellite Images without GNSS
Xinyu Wang, Muhammad Ibrahim, Haitian Wang +3
Accurate geo-registration of LiDAR point clouds remains a significant challenge in urban environments where Global Navigation Satellite System (GNSS) signals are denied or degraded…
UnLoc: A Universal Localization Method for Autonomous Vehicles using LiDAR, Radar and/or Camera Input
Muhammad Ibrahim, Naveed Akhtar, Saeed Anwar +1
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models t…
Slice Transformer and Self-supervised Learning for 6DoF Localization in 3D Point Cloud Maps
Muhammad Ibrahim, Naveed Akhtar, Saeed Anwar +2
Precise localization is critical for autonomous vehicles. We present a self-supervised learning method that employs Transformers for the first time for the task of outdoor localiza…