Related papers: MS-Mapping: Multi-session LiDAR Mapping with Wasse…

Real-time satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena such as floods, earthquakes, etc. One important constraint of satellite imaging is the trade-off between…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…

Meshfree simulation methods are emerging as compelling alternatives to conventional mesh-based approaches, particularly in the fields of Computational Fluid Dynamics (CFD) and continuum mechanics. In this publication, we provide a…

This paper presents a generalization of the Wasserstein distance for both persistence diagrams and merge trees [20], [66] that takes advantage of the regions of their topological features in the input domain. Specifically, we redefine the…

We propose a new unsupervised anomaly detection method based on the sliced-Wasserstein distance for training data selection in machine learning approaches. Our filtering technique is interesting for decision-making pipelines deploying…

The complexity of high-dimensional datasets presents significant challenges for machine learning models, including overfitting, computational complexity, and difficulties in interpreting results. To address these challenges, it is essential…

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this…

Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…

Complementary to prevalent LiDAR and camera systems, millimeter-wave (mmWave) radar is robust to adverse weather conditions like fog, rainstorms, and blizzards but offers sparse point clouds. Current techniques enhance the point cloud by…

This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requires storing past point clouds and…

Applications such as face recognition that deal with high-dimensional data need a mapping technique that introduces representation of low-dimensional features with enhanced discriminatory power and a proper classifier, able to classify…

LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…

Feature matching is a cornerstone task in computer vision, essential for applications such as image retrieval, stereo matching, 3D reconstruction, and SLAM. This survey comprehensively reviews modality-based feature matching, exploring…

Motivated by the 2D class averaging problem in single-particle cryo-electron microscopy (cryo-EM), we present a k-means algorithm based on a rotationally-invariant Wasserstein metric for images. Unlike existing methods that are based on…

Graph-based multi-view spectral clustering methods have achieved notable progress recently, yet they often fall short in either oversimplifying pairwise relationships or struggling with inefficient spectral decompositions in…

This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature that enables the probabilistic representation of the…

Many real-world problems can be formulated as the alignment between two geometric patterns. Previously, a great amount of research focus on the alignment of 2D or 3D patterns in the field of computer vision. Recently, the alignment problem…