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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Distance Estimation in Outdoor Driving Environments Using...
2025-05-23 · via cs.RO updates on arXiv.org

With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have proven effective, but the integration of multiple devices increases both hardware complexity and cost. Therefore, developing a single sensor capable of performing multiple roles is highly desirable for cost-efficient and scalable autonomous driving systems. Event cameras have emerged as a promising solution due to their unique characteristics, including high dynamic range, low latency, and high temporal resolution. These features enable them to perform well in challenging lighting conditions, such as low-light or backlit environments. Moreover, their ability to detect fine-grained motion events makes them suitable for applications like pedestrian detection and vehicle-to-infrastructure communication via visible light. In this study, we present a method for distance estimation using a monocular event camera and a roadside LED bar. By applying a phase-only correlation technique to the event data, we achieve sub-pixel precision in detecting the spatial shift between two light sources. This enables accurate triangulation-based distance estimation without requiring stereo vision. Field experiments conducted in outdoor driving scenarios demonstrated that the proposed approach achieves over 90% success rate with less than 0.5-meter error for distances ranging from 20 to 60 meters. Future work includes extending this method to full position estimation by leveraging infrastructure such as smart poles equipped with LEDs, enabling event-camera-based vehicles to determine their own position in real time. This advancement could significantly enhance navigation accuracy, route optimization, and integration into intelligent transportation systems.