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Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…
In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…
In this paper, we propose the USIP detector: an Unsupervised Stable Interest Point detector that can detect highly repeatable and accurately localized keypoints from 3D point clouds under arbitrary transformations without the need for any…
In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. However, its complexity is directly dependent of the number of…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Along with the advancements in artificial intelligence technologies, image-to-point-cloud registration (I2P) techniques have made significant strides. Nevertheless, the dimensional differences in the features of points cloud…
Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…
An important task in computational statistics and machine learning is to approximate a posterior distribution $p(x)$ with an empirical measure supported on a set of representative points $\{x_i\}_{i=1}^n$. This paper focuses on methods…
While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc.…
Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed…
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…
The conventional clustering algorithms mine static databases and generate a set of patterns in the form of clusters. Many real life databases keep growing incrementally. For such dynamic databases, the patterns extracted from the original…
Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…
We introduce a LiDAR inertial odometry (LIO) framework, called LiPO, that enables direct comparisons of different iterative closest point (ICP) point cloud registration methods. The two common ICP methods we compare are point-to-point (P2P)…
Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but remain limited when dealing with complex probability…
Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…
The Iterative Forecast Planner (IFP) is a geometric planning approach that offers lightweight computations, scalable, and reactive solutions for multi-robot path planning in decentralized, communication-free settings. However, it struggles…
Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…