相关论文: LIO-PPF: Fast LiDAR-Inertial Odometry via Incremen…

Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges regarding robust operation in dark,…

We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…

Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…

As a key technology for autonomous navigation and positioning in mobile robots, light detection and ranging (LiDAR) odometry is widely used in autonomous driving applications. The Iterative Closest Point (ICP)-based methods have become the…

Pose estimation is a crucial problem in simultaneous localization and mapping (SLAM). However, developing a robust and consistent state estimator remains a significant challenge, as the traditional extended Kalman filter (EKF) struggles to…

This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

Deep learning based LiDAR odometry (LO) estimation attracts increasing research interests in the field of autonomous driving and robotics. Existing works feed consecutive LiDAR frames into neural networks as point clouds and match pairs in…

We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial odometry methods rely on handcrafted…

Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…

In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO algorithm can be optimized by linear solvers in only a few…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

Accurate calibration and robust localization are fundamental for downstream tasks in spinning actuated LiDAR applications. Existing methods, however, require parameterizing extrinsic parameters based on different mounting configurations,…

Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…

Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through IMU propagation. In this paper, we address the limitations…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work proposed a novel LiDAR-inertial-visual fusion framework…

In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…