Related papers: ICP-Based Pallet Tracking for Unloading on Incline…
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
In this paper, we propose a method for calculating the three-dimensional (3D) position and orientation of a pallet placed on a shelf on the side of a forklift truck using a 360-degree camera. By using a 360-degree camera mounted on the…
This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…
The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration. Being simple and robust method, it is still computationally expensive and may be challenging to use in real-time applications with limited…
Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…
In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the position and orientation of the hole of…
In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features…
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…
The Iterative Closest Point (ICP) algorithm is one of the most important algorithms for geometric alignment of three-dimensional surface registration, which is frequently used in computer vision tasks, including the Simultaneous…
Automating pallet handling in outdoor logistics and construction environments remains challenging due to unstructured scenes, variable pallet configurations, and changing environmental conditions. In this paper, we present Lang2Lift, an…
The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP…
As a key technology for autonomous navigation and positioning in mobile robots, light detection and ranging (LiDAR) odometry is widely used in autonomous driving applications. The Iterative Closest Point (ICP)-based methods have become the…
Mapping algorithms that rely on registering point clouds inevitably suffer from local drift, both in localization and in the built map. Applications that require accurate maps, such as environmental monitoring, benefit from additional…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping. Iterative closest point (ICP) is a commonly used pose estimation algorithm which provides a point estimate…
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…