相关论文: Self-Calibration of the Offset Between GPS and Sem…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Vision based solutions for the localization of vehicles have become popular recently. We employ an image retrieval based visual localization approach. The database images are kept with GPS coordinates and the location of the retrieved…

We present a novel multi-modal extrinsic calibration framework designed to simultaneously estimate the relative poses between event cameras, LiDARs, and RGB cameras, with particular focus on the challenging event camera calibration. Core of…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

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…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…

High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…

Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dense maps are essential for robotic applications, such as…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

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…

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…

This paper focuses on efficient landmark management in radar based simultaneous localization and mapping (SLAM). Landmark management is necessary in order to maintain a consistent map of the estimated landmarks relative to the estimate of…

Semantic 3D mapping, the process of fusing depth and image segmentation information between multiple views to build 3D maps annotated with object classes in real-time, is a recent topic of interest. This paper highlights the fusion…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…