Research | Autonomous Car

Automatic Calibration of Multiple 3D LiDARs in Outdoor Environment

  • Jianhao Jiao, Yang Yu, Qinghai Liao, Haoyang Ye, Ming Liu, Automatic Calibration of Multiple 3D LiDARs in Outdoor Environment, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 4-8, 2019, Macau, China. pdf video
  • Jianhao Jiao, Rui Fan, Han Ma, Ming Liu, Using DP Towards A Shortest Path Problem-Related Application, International Conference on Robotics and Automation (ICRA), May 20-24, 2019, Montreal, Canada pdf video

Real-time Semantic Segmentation in Autonomous Bus

The video shows the coarse segmentation in industrial zone, applying deep learning models.

Model Predictive Control on golfcar

Based on perception from LIDAR, we design a MPC on golfcar to control it’s steering wheel angle to follow the given trajectory.

Tranversibility extraction from 16-beam LIDAR

We extract in real-time the tranversible of an on-road vehicle under dynamic mobile situation.

A recent collection of 3D perception

Here is a collection of our recent results in 3D perception in the context of autonomous driving, including key object detection, path planning, local mapping, tranversibility extraction, etc.

LIDAR Odometry Demo

  • Left shows multi-sensors mounted on a car, Velodyne VLP-16, Occam Omni Camera IMU and GPS are equipped.

  • Right is and a demo of large-scale LIDAR Odometry. The data is recorded in Hong Kong, from Hang Hau to HKUST. Total size of the map is larger than 3km x 0.9km x 0.1km.

Author: Haoyang Ye, Yuying Chen, Ming Liu

LiDAR and Inertial Fusion

We demonstrate the state-of-the-art performance for real-time LiDAR-based odometry.

  • Haoyang Ye, Ming Liu, LiDAR and Inertial Fusion for Pose Estimation by Non-linear Optimization, or please visit:   link

libcnn: A library for real-time robotic recognition applications based on CNN

libcnn is a modular deep learning libraray, useful for robotics and computer vision. More Information see our GitHub

Scene labeling: Scene labelling by libcnn

Object labeling: Object labelling by libcnn

Online Extrinsic calibration between extroceptive Sensors

Guoyang Xie, Tao Xu, Carsten Isert, Michael Aeberhard, Shaohua Li, Ming Liu, Online Active Calibration for a Multi-LRF System, IEEE 18th International Conference on Intelligent Transportation Systems (ITS), 2015

Online Calibration

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