相关论文: Adaptive Hyperparameter Tuning for Black-box LiDAR…

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…

LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of…

Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that…

Kalman filters are widely used for object tracking, where process and measurement noise are usually considered accurately known and constant. However, the exact known and constant assumptions do not always hold in practice. For example,…

Surrogate Optimization (SO) algorithms have shown promise for optimizing expensive black-box functions. However, their performance is heavily influenced by hyperparameters related to sampling and surrogate fitting, which poses a challenge…

In recent years, the demand for mapping construction sites or buildings using light detection and ranging~(LiDAR) sensors has been increased to model environments for efficient site management. However, it is observed that sometimes…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

In unstructured outdoor environments, robotics requires accurate and efficient odometry with low computational time. Existing low-bias LiDAR odometry methods are often computationally expensive. To address this problem, we present a…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

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…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…

The performance of reinforcement learning (RL) agents is sensitive to the choice of hyperparameters. In real-world settings like robotics or industrial control systems, however, testing different hyperparameter configurations directly on…

Robust and efficient deep LiDAR odometry models are crucial for accurate localization and 3D reconstruction, but typically require extensive and diverse training data to adapt to diverse environments, leading to inefficiencies. To tackle…