Adverse weather and poor illumination remain major challenges for robust ego-trajectory planning in mobile autonomy. 4D radar offers reliable sensing under adverse conditions and direct radial-velocity measurements. However, sensing robustness does not necessarily translate into robust downstream planning, while existi …
Holes in LiDAR scans of environments with glass windows remain an unresolved problem in three-dimensional reconstruction. This study presents a pipeline for point cloud acquisition, filtering, completion, and surface reconstruction to address sparse sampling and missing window regions in scans of a high-speed train nos …
Quadruped robots typically rely on depth cameras and LiDAR sensors to map their local environment. However, these sensors have limited close-range coverage, are relatively expensive, and consume significant power. This study investigates whether distributed Time-of-Flight (ToF) sensors can serve as a low-cost alternati …