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

LiDAR data pretraining offers a promising approach to leveraging large-scale, readily available datasets for enhanced data utilization. However, existing methods predominantly focus on sparse voxel representation, overlooking the…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Triangle meshes play a crucial role in 3D applications for efficient manipulation and rendering. While auto-regressive methods generate structured meshes by predicting discrete vertex tokens, they are often constrained by limited face…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

The ability to sense, localize, and estimate the 3D position and orientation of the human body is critical in virtual reality (VR) and extended reality (XR) applications. This becomes more important and challenging with the deployment of…

A novel 3D point cloud learning model for deep LiDAR odometry, named PWCLO-Net, using hierarchical embedding mask optimization is proposed in this paper. In this model, the Pyramid, Warping, and Cost volume (PWC) structure for the LiDAR…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…

This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration…

This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

We present a new meshing algorithm called guided and augmented meshing, GAMesh, which uses a mesh prior to generate a surface for the output points of a point network. By projecting the output points onto this prior and simplifying the…

Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

The rise of multi-modal search requests from users has highlighted the importance of multi-modal retrieval (i.e. image-to-text or text-to-image retrieval), yet the more complex task of image-to-multi-modal retrieval, crucial for many…

We present RailLoMer in this article, to achieve real-time accurate and robust odometry and mapping for rail vehicles. RailLoMer receives measurements from two LiDARs, an IMU, train odometer, and a global navigation satellite system (GNSS)…

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

We introduce MetricHMSR, a novel framework for recovering metric human meshes and 3D scenes from a single monocular image. Existing methods struggle to recover metric scale due to monocular scale ambiguity and weak-perspective camera…