相关论文: That's My Point: Compact Object-centric LiDAR Pose…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…

Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110,000$ remote…

Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of widely used point clouds. The proposed framework achieves…