相关论文: Fiducial Tag Localization on a 3D LiDAR Prior Map

LiDAR is a crucial sensor in autonomous driving, commonly used alongside cameras. By exploiting this camera-LiDAR setup and recent advances in image representation learning, prior studies have shown the promising potential of image-to-LiDAR…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…

Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…

In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…