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

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

We present surface normal estimation using a single near infrared (NIR) image. We are focusing on fine-scale surface geometry captured with an uncalibrated light source. To tackle this ill-posed problem, we adopt a generative adversarial…

Precise and prompt identification of road surface conditions enables vehicles to adjust their actions, like changing speed or using specific traction control techniques, to lower the chance of accidents and potential danger to drivers and…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

We propose a fast bivariate smoothing approach for symmetric surfaces that has a wide range of applications. We show how it can be applied to estimate the covariance function in longitudinal data as well as multiple additive covariances in…

We outline the construction of compatible B-splines on 3D surfaces that satisfy the continuity requirements for electromagnetic scattering analysis with the boundary element method (method of moments). Our approach makes use of Non-Uniform…

In this letter, we propose a robust and fast navigation system in a narrow indoor environment for UGV (Unmanned Ground Vehicle) using 2D LiDAR and odometry. We used behavior cloning with Transformer neural network to learn the…