相关论文: PSF-LO: Parameterized Semantic Features Based Lida…

LiDAR point clouds provide rich geometric information, which is particularly useful for the analysis of complex scenes of urban regions. Finding structural and semantic differences between two different three-dimensional point clouds, say,…

This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion,…

Open-Vocabulary Segmentation (OVS) methods offer promising capabilities in detecting unseen object categories, but the category must be known and needs to be provided by a human, either via a text prompt or pre-labeled datasets, thus…

Most of the research on Federated Learning (FL) has focused on analyzing global optimization, privacy, and communication, with limited attention focusing on analyzing the critical matter of performing efficient local training and inference…

This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where…

LiDAR odometry is one of the essential parts of LiDAR simultaneous localization and mapping (SLAM). However, existing LiDAR odometry tends to match a new scan simply iteratively with previous fixed-pose scans, gradually accumulating errors.…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

LiDAR-inertial odometry (LIO) is an active research area, as it enables accurate real-time state estimation in GPS-denied environments. Recent advances in map data structures and spatial indexing have significantly improved the efficiency…

Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar systems, in particular, have drawn increasing attention thanks…

Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Visual data in autonomous driving perception, such as camera image and LiDAR point cloud, can be interpreted as a mixture of two aspects: semantic feature and geometric structure. Semantics come from the appearance and context of objects to…

Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…

In autonomous driving scenarios, accurate perception is becoming an even more critical task for safe navigation. While LiDAR provides precise spatial data, its inherent sparsity makes it difficult to detect small or distant objects.…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

In geology, a key activity is the characterisation of geological structures (surface formation topology and rock units) using Planar Orientation measurements such as Strike, Dip and Dip Direction. In general these measurements are collected…

Loop closing is a crucial component in SLAM that helps eliminate accumulated errors through two main steps: loop detection and loop pose correction. The first step determines whether loop closing should be performed, while the second…

For utilizing autonomous vehicle in urban areas a reliable localization is needed. Especially when HD maps are used, a precise and repeatable method has to be chosen. Therefore accurate map generation but also re-localization against these…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…