相关论文: Large-Scale LiDAR Consistent Mapping using Hierach…

The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…

With the advent of advanced multi-sensor fusion models, there has been a notable enhancement in the performance of perception tasks within in terms of autonomous driving. Despite these advancements, the challenges persist, particularly in…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

3D Lidar imaging can be a challenging modality when using multiple wavelengths, or when imaging in high noise environments (e.g., imaging through obscurants). This paper presents a hierarchical Bayesian algorithm for the robust…

Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability. However, there is a lack of research in fusing these…

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…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Structure from motion using uncalibrated multi-camera systems is a challenging task. This paper proposes a bundle adjustment solution that implements a baseline constraint respecting that these cameras are static to each other. We assume…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain…

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…