相关论文: Adaptive Hyperparameter Tuning for Black-box LiDAR…
Dimensionality reduction is a fundamental task in modern data science. Several projection methods specifically tailored to take into account the non-linearity of the data via local embeddings have been proposed. Such methods are often based…
Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
Over the last decade, one of the most relevant public datasets for evaluating odometry accuracy is the KITTI dataset. Beside the quality and rich sensor setup, its success is also due to the online evaluation tool, which enables researchers…
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-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…
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced-order models, which often rely on…
Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different…
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe…
Making calibrated online predictions is a central challenge in modern AI systems. Much of the existing literature focuses on fully adversarial environments where outcomes may be arbitrary, leading to conservative algorithms that can perform…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…
The flexibility of Simultaneous Localization and Mapping (SLAM) algorithms in various environments has consistently been a significant challenge. To address the issue of LiDAR odometry drift in high-noise settings, integrating clustering…
Parameter tuning is a common issue for many tracking algorithms. In order to solve this problem, this paper proposes an online parameter tuning to adapt a tracking algorithm to various scene contexts. In an offline training phase, this…
This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from the point cloud, including edges, surfaces, and Stable…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…
Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…
We propose a feedforward input-shaping framework with online parameter estimation for unknown second-order systems. The proposed approach eliminates the need for prior knowledge of system parameters when designing input shaping for precise…
Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…