相关论文: Generalized LOAM: LiDAR Odometry Estimation with T…

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

This technical report outlines the top-ranking solution for RoboSense 2025: Track 3, achieving state-of-the-art performance on 3D object detection under various sensor placements. Our submission utilizes GBlobs, a local point cloud feature…

In this paper we propose a method for estimating depth from a single image using a coarse to fine approach. We argue that modeling the fine depth details is easier after a coarse depth map has been computed. We express a global (coarse)…

Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…

In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and…

LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps or previous scans. However, ICP is prone to errors in…

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…

LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need…

This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides…

This study proposes an adaptive data-driven hyperparameter tuning framework for black-box 3D LiDAR odometry algorithms. The proposed framework comprises offline parameter-error function modeling and online adaptive parameter selection. In…

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

A novel learning-optimization-combined 4D radar odometry model, named DNOI-4DRO, is proposed in this paper. The proposed model seamlessly integrates traditional geometric optimization with end-to-end neural network training, leveraging an…