相关论文: LIDAR data based Segmentation and Localization usi…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Reliable localization of people is fundamental for service and social robots that must operate in close interaction with humans. State-of-the-art human detectors often rely on RGB-D cameras or costly 3D LiDARs. However, most commercial…

LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

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…

This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…

Lane detection algorithms are crucial for the development of autonomous vehicles technologies. The more extended approach is to use cameras as sensors. However, LIDAR sensors can cope with weather and light conditions that cameras can not.…

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…