相关论文: Towards High-Performance Solid-State-LiDAR-Inertia…

Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames. However, discrepancies between the prior and true trajectory…

This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has two key novelties that allow fast, robust, and accurate…

We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…

Accurate calibration and robust localization are fundamental for downstream tasks in spinning actuated LiDAR applications. Existing methods, however, require parameterizing extrinsic parameters based on different mounting configurations,…

In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…

A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piecewise linear de skewing algorithm is proposed to correct the…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

We propose a tightly-coupled LiDAR/Polarization Vision/Inertial/Magnetometer/Optical Flow Odometry via Smoothing and Mapping (LPVIMO-SAM) framework, which integrates LiDAR, polarization vision, inertial measurement unit, magnetometer, and…

This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy…

LiDAR odometry and localization has attracted increasing research interest in recent years. In the existing works, iterative closest point (ICP) is widely used since it is precise and efficient. Due to its non-convexity and its local…

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…

LiDAR-Inertial Odometry (LIO) demonstrates outstanding accuracy and stability in general low-speed and smooth motion scenarios. However, in high-speed and intense motion scenarios, such as sharp turns, two primary challenges arise: firstly,…

We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in…

To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research…

Local geometric information, i.e. normal and distribution of points, is crucial for LiDAR-based simultaneous localization and mapping (SLAM) because it provides constraints for data association, which further determines the direction of…