相关论文: LiDAR Odometry Methodologies for Autonomous Drivin…

Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR state estimation system for AVs. Firstly, we utilize LiDAR to…

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…

This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…

In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…

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…

In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first…

There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

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…

Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…

LiDAR odometry and localization are two widely used and fundamental applications in robotic and autonomous driving systems. Although state-of-the-art (SOTA) systems achieve high accuracy on clean point clouds, their robustness to corrupted…

Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed motion, low lighting, or wide dynamic range. These distinctive…

Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

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…

Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…