相关论文: GLiDR: Topologically Regularized Graph Generative …

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Graph neural networks (GNNs) hold the promise of learning efficient representations of graph-structured data, and one of its most important applications is semi-supervised node classification. However, in this application, GNN frameworks…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

LiDAR (Light Detection and Ranging) has become an essential part of the remote sensing toolbox used for biosphere monitoring. In particular, LiDAR provides the opportunity to map forest leaf area with unprecedented accuracy, while leaf area…

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…

Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…

In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Although neural radiance fields (NeRFs) have achieved triumphs in image novel view synthesis (NVS), LiDAR NVS remains largely unexplored. Previous LiDAR NVS methods employ a simple shift from image NVS methods while ignoring the dynamic…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…

Dominant paradigms for 4D LiDAR panoptic segmentation are usually required to train deep neural networks with large superimposed point clouds or design dedicated modules for instance association. However, these approaches perform redundant…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…