20 citations · 42 across the 14 of their papers we have counts for
6 papers · 1 filter
Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization
Alex Zhang, Daniil Lisus, Cedric Le Gentil +1
This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in against 3D lidar maps. Radar-lidar localization…
Do Spinning Radar Doppler Velocity Measurements Improve Vehicle Detection and Tracking?
Eric Xie, Daniil Lisus, Timothy D. Barfoot
Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustness to adverse weather condition…
DRT&R: Direct Radar Teach & Repeat
Alexander Krawciw, Daniil Lisus, Cedric Le Gentil +1
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based s…
3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
Cedric Le Gentil, Daniil Lisus, Timothy D. Barfoot
Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. D…
Dr-BA: Separable Optimization for Direct Radar Bundle Adjustment & Localization
Daniil Lisus, Cedric Le Gentil, Timothy D. Barfoot
This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors…
Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
Daniil Lisus, Katya M. Papais, Cedric Le Gentil +4
The Boreas Road Trip (Boreas-RT) dataset extends the multi-season Boreas dataset to new and diverse locations that pose challenges for modern autonomous driving algorithms. Boreas-…