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This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…

Accurate and efficient localization with conveniently-established map is the fundamental requirement for mobile robot operation in warehouse environments. An accurate AprilTag map can be conveniently established with the help of LiDAR-based…

The dynamic and heterogeneous nature of agricultural fields presents significant challenges for object detection and localization, particularly for autonomous mobile robots that are tasked with surveying previously unseen unstructured…

Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Floorplans provide a compact representation of the building's structure, revealing not only layout information but also detailed semantics such as the locations of windows and doors. However, contemporary floorplan localization techniques…

Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

Accurate robot localization relative to orchard row centerlines is essential for autonomous guidance where satellite signals are often obstructed by foliage. Existing sensor-based approaches rely on various features extracted from images…

This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…

Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…

Accurate depth-sensing plays a crucial role in securing a high success rate of robotic harvesting in natural orchard environments. Solid-state LiDAR (SSL), a recently introduced LiDAR technique, can perceive high-resolution geometric…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently.…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Frame-wise semantic segmentation of indoor lidar scans is a fundamental step toward higher-level 3D scene understanding and mapping applications. However, acquiring frame-wise ground truth for training deep learning models is costly and…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…