相关论文: Scalable Surface Water Mapping up to Fine-scale us…
Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…
We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…
High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…
This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…
Despite the substantial demand for high-quality, large-area building maps, no established open-source workflow for generating 2D and 3D maps currently exists. This study introduces an automated, open-source workflow for large-scale 2D and…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
3D point clouds of natural environments relevant to problems in geomorphology often require classification of the data into elementary relevant classes. A typical example is the separation of riparian vegetation from ground in fluvial…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor…
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…
Estimating building footprint maps from geospatial data is of paramount importance in urban planning, development, disaster management, and various other applications. Deep learning methodologies have gained prominence in building…
In Geographical Information search, map visualization can challenge the user because results can consist of a large set of heterogeneous items, increasing visual complexity. We propose a novel visualization model to address this issue. Our…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
Robust and accurate localization and mapping of an environment using laser scanners, so-called LiDAR SLAM, is essential to many robotic applications. Early 3D LiDAR SLAM methods often exploited additional information from IMU or GNSS…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Surface-subsurface flow models for hydrological applications solve a coupled multiphysics problem. This usually consists of some form of the Richards and shallow water equations. A typical setup couples these two nonlinear partial…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…