Related papers: ROLL: Long-Term Robust LiDAR-based Localization Wi…
Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency…
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded.…
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…
Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…
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…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…
Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…
Simultaneous Localization and Mapping (SLAM) is a fundamental task to mobile and aerial robotics. LiDAR based systems have proven to be superior compared to vision based systems due to its accuracy and robustness. In spite of its…
Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offers a reliable and cost-effective solution by avoiding the…
In this paper, a LiDAR-inertial odometry (LIO) method that eliminates the influence of moving objects in dynamic driving scenarios is proposed. This method constructs binarized labels for 3D points of current sweep, and utilizes the label…
Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time…
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…
We present an active method for robust exoatmospheric positioning using space-based intensity modulated direct detection (IMDD) LiDAR with a spacecraft-based transmitter and receiver and a constellation of orbital reflectors. We discuss the…
This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…