Related papers: Pole-like Objects Mapping and Long-Term Robot Loca…
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on…
Long-term autonomy for mobile robots requires both robust self-localization and reliable map maintenance. Conventional landmark-based methods face a fundamental trade-off between landmarks with high detectability but low distinctiveness…
Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local…
For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
Reliable and accurate localization is crucial for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, lamps, etc., are ideal landmarks for localization in urban environments due to their local distinctiveness and…
Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…
In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of autonomous vehicles given their geometrical locations in maps and…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…
In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…
In this paper, we propose an algorithm to generate a static point cloud map based on LiDAR point cloud data. Our proposed pipeline detects dynamic objects using 3D object detectors and projects points of dynamic objects onto the ground.…
In this research, we present an end-to-end data-driven pipeline for determining the long-term stability status of objects within a given environment, specifically distinguishing between static and dynamic objects. Understanding object…
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…
In 3D point cloud-based visual self-localization, pole landmarks have a great potential as landmarks for accurate and reliable localization due to their long-term stability under seasonal and weather changes. In this study, we aim to…