PyTorch implementation of occupancy grid learning for autonomous driving using sparse radar clusters from the nuScenes dataset. This project implements a deep learning-based occupancy grid mapping ...
Implementations of the core mobile-robot autonomy stack, written from scratch in Python / ROS2 and demonstrated in Gazebo & RViz simulation. Graduate robotics coursework (RE 607, Widener University).
Abstract: Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based ...
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