Related papers: DCT Maps: Compact Differentiable Lidar Maps Based …
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
LiDAR point clouds are fundamental to various applications, yet high-precision scans incur substantial storage and transmission overhead. Existing methods typically convert unordered points into hierarchical octree or voxel structures for…
Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…
This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
Recent works recognized lidars as an inherently streaming data source and showed that the end-to-end latency of lidar perception models can be reduced significantly by operating on wedge-shaped point cloud sectors rather then the full point…
A versatile method is described for the practical computation of the discrete Fourier transforms (DFT) of a continuous function $g(t)$ given by its values $g_{j}$ at the points of a uniform grid $F_{N}$ generated by conjugacy classes of…
Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from…
Over discrete memoryless channels (DMC), linear decoders (maximizing additive metrics) afford several nice properties. In particular, if suitable encoders are employed, the use of decoding algorithm with manageable complexities is…
Simultaneous Localization and Mapping (SLAM) is an essential technology for the efficiency and reliability of unmanned robotic exploration missions. While the onboard computational capability and communication bandwidth are critically…
This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
3D object detection from a single image without LiDAR is a challenging task due to the lack of accurate depth information. Conventional 2D convolutions are unsuitable for this task because they fail to capture local object and its scale…
Channel charting has emerged as a powerful tool for user equipment localization and wireless environment sensing. Its efficacy lies in mapping high-dimensional channel data into low-dimensional features that preserve the relative…
LiDAR point clouds are fundamental to various applications, yet the extreme sparsity of high-precision geometric details hinders efficient context modeling, thereby limiting the compression speed and performance of existing methods. To…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
{The study of frequency components derived from Discrete Cosine Transform (DCT) has been widely used in image analysis. In recent years it has been observed that significant information can be extrapolated from them about the lifecycle of…