Related papers: TCM-ICP: Transformation Compatibility Measure for …
Reliable odometry in highly dynamic environments remains challenging when it relies on ICP-based registration: ICP assumes near-static scenes and degrades in repetitive or low-texture geometry. We introduce Dynamic-ICP, a Doppler-aware…
In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…
We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…
The fusion of Iterative Closest Point (ICP) reg- istrations in existing state estimation frameworks relies on an accurate estimation of their uncertainty. In this paper, we study the estimation of this uncertainty in the form of a…
Probabilistic 3D point cloud registration methods have shown competitive performance in overcoming noise, outliers, and density variations. However, registering point cloud pairs in the case of partial overlap is still a challenge. This…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
In the Canadian's lumber industry, simulators are used to predict the lumbers resulting from the sawing of a log at a given sawmill. Giving a log or several logs' 3D scans as input, simulators perform a real-time job to predict the lumbers.…
The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…
High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…
The goal of the \emph{alignment problem} is to align a (given) point cloud $P = \{p_1,\cdots,p_n\}$ to another (observed) point cloud $Q = \{q_1,\cdots,q_n\}$. That is, to compute a rotation matrix $R \in \mathbb{R}^{3 \times 3}$ and a…
By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…
In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…
Odometry with lidar sensors is a state-of-the-art method to estimate the ego pose of a moving vehicle. Many implementations of lidar odometry use variants of the Iterative Closest Point (ICP) algorithm. Real-world effects such as dynamic…
This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…
The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…
For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…