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Wearable laser scanning (WLS) system has the advantages of flexibility and portability. It can be used for determining the user's path within a prior map, which is a huge demand for applications in pedestrian navigation, collaborative…
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…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
As the population ages rapidly, long-term care (LTC) facilities across North America face growing pressure to monitor residents safely while keeping staff workload manageable. Falls are among the most critical events to monitor due to their…
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…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…
This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…
Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors,…
Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…
Targeting integrated sensing and communication (ISAC) in future 6G radio access networks (RANs), this paper presents a novel device-free localization (DFL) framework based on distributed antenna networks (DANs). In the proposed approach,…
LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…