相关论文: 3D map creation using crowdsourced GNSS data

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

Energy consumption of memory accesses dominates the compute energy in energy-constrained robots which require a compact 3D map of the environment to achieve autonomy. Recent mapping frameworks only focused on reducing the map size while…

We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…

In this paper, we explore the capabilities of multimodal inputs to 3D Gaussian Splatting (3DGS) based Radiance Field Rendering. We present LiDAR-3DGS, a novel method of reinforcing 3DGS inputs with LiDAR generated point clouds to…

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…

Significant progress has been made in low-light image enhancement with respect to visual quality. However, most existing methods primarily operate in the pixel domain or rely on implicit feature representations. As a result, the intrinsic…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

The growing use of probe vehicles generates a huge number of GNSS data. Limited by the satellite positioning technology, further improving the accuracy of map-matching is challenging work, especially for low-frequency trajectories. When…

Constructing and sharing 3D maps is essential for many applications, including autonomous driving and augmented reality. Recently, 3D Gaussian splatting has emerged as a promising approach for accurate 3D reconstruction. However, a…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

In the globalized economic world, it has become important to understand the purpose behind infrastructural and construction initiatives occurring within developing regions of the earth. This is critical when the financing for such projects…

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…

Vehicle trajectories are a promising GNSS (Global Navigation Satellite System) data source to compute multi-scale traffic flow maps ranging from the city/regional level to the road level. The main obstacle is that trajectory data are prone…

This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for…

The 3D Gaussian Splatting (3DGS)-based SLAM system has garnered widespread attention due to its excellent performance in real-time high-fidelity rendering. However, in real-world environments with dynamic objects, existing 3DGS-based SLAM…