Related papers: RIs-Calib: An Open-Source Spatiotemporal Calibrato…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
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)…
Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive.…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a feature-based…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
Nowadays, sensor suits have been equipped with redundant LiDARs and IMUs to mitigate the risks associated with sensor failure. It is challenging for the previous discrete-time and IMU-driven kinematic systems to incorporate multiple…
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loop configuration together with measurements from a laser…
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…
The transition toward 6G networks demands energy-efficient hardware capable of active interaction with the environment. Reconfigurable Intelligent Surfaces (RIS) have emerged as a key technology for Integrated Sensing and Communications…
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…
Integrated sensing and communication (ISAC) has emerged as a transformative technology for 6G networks, enabling the seamless integration of communication and sensing functionalities. Reconfigurable intelligent surfaces (RIS), with their…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle systems, roadside sensors are usually affiliated with…
Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…
The development process of high-fidelity SLAM systems depends on their validation upon reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that includes data synchronization and acquisition APIs for telemetry…