相关论文: Mapping While Following: 2D LiDAR SLAM in Indoor D…

We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…

Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in field environments: one is resource limitation, and the other…

To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…

The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tightly coupled LiDAR-Inertial 3D SLAM framework with plane…

This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and real-world efficacy. DLIOM contains several key algorithmic…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…

Simultaneous localization and mapping (SLAM) is paramount for unmanned systems to achieve self-localization and navigation. It is challenging to perform SLAM in large environments, due to sensor limitations, complexity of the environment,…

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,…

Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…

As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dense maps are essential for robotic applications, such as…

3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…

Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…

Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…

Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they…

The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient,…