Related papers: CAR-LOAM: Color-Assisted Robust LiDAR Odometry and…

We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high accuracy and robustness. LVI-SAM is built atop a factor graph…

In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…

We present RailLoMer in this article, to achieve real-time accurate and robust odometry and mapping for rail vehicles. RailLoMer receives measurements from two LiDARs, an IMU, train odometer, and a global navigation satellite system (GNSS)…

Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in degraded LiDAR-Inertial Odometry (LIO)…

Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Combining lidar in camera-based simultaneous localization and mapping (SLAM) is an effective method in improving overall accuracy, especially at a large scale outdoor scenario. Recent development of low-cost lidars (e.g. Livox lidar) enable…

In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…

We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…

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…

LiDAR-inertial odometry (LIO) plays a vital role in achieving accurate localization and mapping, especially in complex environments. However, the presence of LiDAR feature degeneracy poses a major challenge to reliable state estimation. To…

Accurate 3D point cloud map generation is a core task for various robot missions or even for data-driven urban analysis. To do so, light detection and ranging (LiDAR) sensor-based simultaneous localization and mapping (SLAM) technology have…

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…

Sparse keypoint matching based on distinct 3D feature representations can improve the efficiency and robustness of point cloud registration. Existing learning-based 3D descriptors and keypoint detectors are either independent or loosely…

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…