相关论文: Laser map aided visual inertial localization in ch…
In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…
LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…
Robust odometry estimation in perceptually degraded environments represents a key challenge in the field of robotics. In this paper, we propose a LiDAR-radar fusion method for robust odometry for adverse environment with LiDAR degeneracy.…
Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
Hyperspectral cameras can provide unique spectral signatures for consistently distinguishing materials that can be used to solve surveillance tasks. In this paper, we propose a novel real-time hyperspectral likelihood maps-aided tracking…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…