相关论文: Fast and Robust Ground Surface Estimation from LID…

This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize…

Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…

While surface normals are widely used to analyse 3D scene geometry, surface normal estimation from LiDAR point clouds remains severely underexplored. This is caused by the lack of large-scale annotated datasets on the one hand, and lack of…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

There is a growing interest in new sensing technologies and processing algorithms to increase the level of driving automation towards self-driving vehicles. The challenge for autonomy is especially difficult for the negotiation of uncharted…

This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…

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 proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides information on the reflectivity and number of point clouds…

Both in terrestrial and extraterrestrial environments, the precise and informative model of the ground and the surface ahead is crucial for navigation and obstacle avoidance. The ground surface is not always flat and it may be sloped, bumpy…

This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…

LiDAR data is becoming increasingly essential with the rise of autonomous vehicles. Its ability to provide 360deg horizontal field of view of point cloud, equips self-driving vehicles with enhanced situational awareness capabilities. While…

In this study, we propose a novel parallel processing method for point cloud ground segmentation, aimed at the technology evolution from mechanical to solid-state Lidar (SSL). We first benchmark point-based, grid-based, and range…

The novel Locally Refined B-spline (LR B-spline) surface format is suited for representing terrain and seabed data in a compact way. It provides an alternative to the well know raster and triangulated surface representations. An LR B-spline…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…

The spatial impulse response (SIR) method is a well-known approach to calculate transient acoustic fields of arbitrary-shape transducers. It involves the evaluation of a time-dependent surface integral. Although analytic expressions of the…

Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a…