相关论文: ImMesh: An Immediate LiDAR Localization and Meshin…

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this paper we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of…

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…

Existing methods for capturing datasets of 3D heads in dense semantic correspondence are slow, and commonly address the problem in two separate steps; multi-view stereo (MVS) reconstruction followed by non-rigid registration. To simplify…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…

LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

Aligning objects with corresponding textual descriptions is a fundamental challenge and a realistic requirement in vision-language understanding. While recent multimodal embedding models excel at global image-text alignment, they often…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Masked Image Modeling (MIM) is a self-supervised learning technique that involves masking portions of an image, such as pixels, patches, or latent representations, and training models to predict the missing information using the visible…

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…

Light detection and ranging (LiDAR)-inertial odometry (LIO) enables accurate localization and mapping for autonomous navigation in various scenes. However, its performance remains sensitive to variations in spatial scale, which refers to…

Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the…

This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…

The potential of Augmented Reality (AR) technology to assist minimally invasive surgeries (MIS) lies in its computational performance and accuracy in dealing with challenging MIS scenes. Even with the latest hardware and software…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

The creation of a volumetric mesh representing the interior of an input polygonal mesh is a common requirement in graphics and computational mechanics applications. Most mesh creation techniques assume that the input surface is not…