Related papers: Efficient and Consistent Bundle Adjustment on Lida…

In the field of 3D object detection tasks, fusing heterogeneous features from LiDAR and camera sensors into a unified Bird's Eye View (BEV) representation is a widely adopted paradigm. However, existing methods often suffer from imprecise…

We propose a system that estimates people's body and head orientations using low-resolution point cloud data from two LiDAR sensors. Our models make accurate estimations in real-world conversation settings where subjects move naturally with…

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…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

We propose new, and robust, loss functions for the point cloud registration problem. Our loss functions are inspired by the Best Buddies Similarity (BBS) measure that counts the number of mutual nearest neighbors between two point sets.…

Beam alignment (BA) is to ensure the transmitter and receiver beams are accurately aligned to establish a reliable communication link in millimeter-wave (mmwave) systems. Existing BA methods search the entire beam space to identify the…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

Bundle adjustment jointly optimizes camera intrinsics and extrinsics and 3D point triangulation to reconstruct a static scene. The triangulation constraint, however, is invalid for moving points captured in multiple unsynchronized videos…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

We present a system for automatic converting of 2D mask object predictions and raw LiDAR point clouds into full 3D bounding boxes of objects. Because the LiDAR point clouds are partial, directly fitting bounding boxes to the point clouds is…

The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…

The flexibility of Simultaneous Localization and Mapping (SLAM) algorithms in various environments has consistently been a significant challenge. To address the issue of LiDAR odometry drift in high-noise settings, integrating clustering…

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…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…