相关论文: High Quality Large-Scale 3-D Urban Mapping with Mu…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…

Accurate urban maps provide essential information to support sustainable urban development. Recent urban mapping methods use multi-modal deep neural networks to fuse Synthetic Aperture Radar (SAR) and optical data. However, multi-modal…

Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…

Most approaches to large-scale image retrieval are based on the construction of the inverted index of local image descriptors or visual words. A search in such an index usually results in a large number of candidates. This list of…

Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…

A radio map captures the spatial distribution of wireless channel parameters, such as the strength of the signal received, across a geographic area. The problem of fine-grained three-dimensional (3D) radio map construction involves…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

This paper is about the efficient generation of dense, colored models of city-scale environments from range data and in particular, stereo cameras. Better maps make for better understanding; better understanding leads to better robots, but…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…

Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors,…

An innovative 3-D radar imaging technique is developed for fast and efficient identification and characterization of radar backscattering components of complex objects, when the collected scattered field is made of polarization-diverse…

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…

3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…

This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…

Autonomous driving must operate across diverse surfaces to enable safe mobility. However, most driving datasets are captured on well-paved flat roads. Moreover, recent driving datasets primarily provide sparse LiDAR ground truth for images,…

We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks…

In the next generations of cellular communication networks, higher density of base stations and higher frequency bands will be adopted. If being reflected by targets, the communication signal also brings information of the targets, in…

Snow depth plays a central role in seasonal snowpack characterization and the terrestrial water cycle, yet remains challenging to estimate at high spatial resolution. Recent studies have shown that repeat-pass interferometric synthetic…

This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…