5 papers
Characterizing Lidar Range-Measurement Ambiguity due to Multiple Returns
Jason H. Rife, Yifan Li
Reliable position and attitude sensing is critical for highly automated vehicles that operate on conventional roadways. Lidar sensors are increasingly incorporated into pose-estima…
Ratio of Quantiles Indicates Burstiness with Fewer False Negatives than the Conventional Burstiness Parameter
Joshua Z. Stadlan, Michelle Birkett, Jason H. Rife
Complexity researchers view burstiness--fluctuating levels of activity--as evidence of hidden interactions within the system generating the activity signal. Yet, current burstiness…
Exploiting Structure-from-Motion for Robust Vision-Based Map Matching for Aircraft Surface Movement
Daniel Choate, Jason Rife
In this paper we introduce a vision-aided navigation (VAN) pipeline designed to support ground navigation of autonomous aircraft. The proposed algorithm combines the computational…
Characterizing Lidar Point-Cloud Adversities Using a Vector Field Visualization
Daniel Choate, Jason Rife
In this paper we introduce a visualization methodology to aid a human analyst in classifying adversity modes that impact lidar scan matching. Our methodology is intended for offlin…
A Probabilistic Formulation of LiDAR Mapping with Neural Radiance Fields
Matthew McDermott, Jason Rife
In this paper we reexamine the process through which a Neural Radiance Field (NeRF) can be trained to produce novel LiDAR views of a scene. Unlike image applications where camera p…