Related papers: Efficient Dynamic LiDAR Odometry for Mobile Robots…
Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…
We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…
Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…
In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is…
Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…
In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…
In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…
We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…
Most LiDAR odometry and SLAM systems construct maps in point clouds, which are discrete and sparse when zoomed in, making them not directly suitable for navigation. Mesh maps represent a dense and continuous map format with low memory…
Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…