Related papers: Development of Ultra-Portable 3D Mapping Systems f…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
The evolution of mobile mapping systems (MMSs) has gained more attention in the past few decades. MMSs have been widely used to provide valuable assets in different applications. This has been facilitated by the wide availability of…
Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…