arXiv subjects

Lu Sun

Publications and source records attributed to Lu Sun.

42 records · Page 3Linked to original sources

arXiv2018

DLO: Direct LiDAR Odometry for 2.5D Outdoor Environment

For autonomous vehicles, high-precision real-time localization is the guarantee of stable driving. Compared with the visual odometry (VO), the LiDAR odometry (LO) has the advantages of higher accuracy and better stability. However, 2D LO is only suitable for the indoor environment, and 3D LO has less efficiency in general. Both are not suitable for the online localization of an autonomous vehicle in an outdoor driving environment. In this paper, a direct LO method based on the 2.5D grid map is proposed. The fast semi-dense direct method proposed for VO is employed to register two 2.5D maps. Experiments show that this method is superior to both the 3D-NDT and LOAM in the outdoor environment.

cs.CV↗

arXiv2018

Nanoscale Plasmonic Slot Waveguides for Enhanced Raman Spectroscopy

We theoretically investigate several types of plasmonic slot waveguides for enhancing the measured signal in Raman spectroscopy, which is a consequence of electric field and Purcell factor enhancements, as well as an increase in light-matter interaction volume and the Raman signal collection efficiency. An intuitive methodology is presented for calculating the accumulated Raman enhancement factor of an ensemble of molecules in waveguide sensing, which exploits an analytical photon Green function expansion in terms of the waveguide normal modes, and we combine this with a quantum optics formalism of the molecule-waveguide interaction to model Raman scattering. We subsequently show how integrated plasmonic slot waveguides can attain significantly higher Raman enhancement factors: $\sim$5.3$\times$ compared to optofluidic fibers and $\sim$3.7$\times$ compared to planar integrated dielectric waveguides, with a device size and thus analyte volume of at least three-orders of magnitude less. We also provide a comprehensive comparison between the different types of plasmonic slot waveguides based on the important figures-of-merit, and determine the optimal approaches to maximize Raman enhancement.

physics.optics↗

arXiv2018

Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR

In this paper, we studied a SLAM method for vector-based road structure mapping using multi-beam LiDAR. We propose to use the polyline as the primary mapping element instead of grid cell or point cloud, because the vector-based representation is precise and lightweight, and it can directly generate vector-based High-Definition (HD) driving map as demanded by autonomous driving systems. We explored: 1) the extraction and vectorization of road structures based on local probabilistic fusion. 2) the efficient vector-based matching between frames of road structures. 3) the loop closure and optimization based on the pose-graph. In this study, we took a specific road structure, the road boundary, as an example. We applied the proposed matching method in three different scenes and achieved the average absolute matching error of 0.07. We further applied the mapping system to the urban road with the length of 860 meters and achieved an average global accuracy of 0.466 m without the help of high precision GPS.

cs.RO↗

arXiv2018

TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China

TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, incremental mapping, the 1st and the 2nd planning and the overall safety concern. TiEV finished 2016 and 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences on the development of autonomous vehicles and future trends.

cs.RO↗

arXiv2017

MLC Toolbox: A MATLAB/OCTAVE Library for Multi-Label Classification

Multi-Label Classification toolbox is a MATLAB/OCTAVE library for Multi-Label Classification (MLC). There exists a few Java libraries for MLC, but no MATLAB/OCTAVE library that covers various methods. This toolbox offers an environment for evaluation, comparison and visualization of the MLC results. One attraction of this toolbox is that it enables us to try many combinations of feature space dimension reduction, sample clustering, label space dimension reduction and ensemble, etc.

cs.LG↗

arXiv2016

Powerful and Tunable THz Emitters Based on the Fe/Pt Magnetic Heterostructure

In this work, we report our study on the THz emission in Fe/Pt magnetic heterostructures. We have carried out a comprehensive investigation of THz emission from Fe/Pt magnetic heterostructures, employing time-domain THz spectroscopy. We reveal that by properly tuning the thickness of Fe or Pt layer, THz emission can be greatly improved in this type of heterostructure. We further demonstrate that the THz field strength emitted from a newly designed multilayer (Pt/Fe/MgO)$_n$ with n=3 can reach a value of ~1.6 kV/cm, which is comparable to the values from the conventional GaAs antenna with a bias of 4 kV/cm, and the nonlinear crystals, e.g., 100 micrometer GaP and 2 mm ZnTe. For the first time, the intensity and spectrum of THz wave is demonstrated to be tunable by the magnetic field applied on the patterned magnetic Fe/Pt heterostructures. These findings thus promise novel approaches to fabricate powerful and tunable THz emitters based on magnetic heterostructure.

cond-mat.mtrl-sci↗