相关论文: Evaluation and Deployment of LiDAR-based Place Rec…

Solid-state LiDAR-inertial SLAM has attracted significant attention due to its advantages in speed and robustness. However, achieving accurate mapping in extreme environments remains challenging due to severe geometric degeneracy and…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

Simultaneous Localization and Mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. These environments pose significant…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…

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…

LiDAR sensors are becoming one of the most essential sensors in achieving full autonomy for self driving cars. LiDARs are able to produce rich, dense and precise spatial data, which can tremendously help in localizing and tracking a moving…

Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…

We are interested in understanding whether retrieval-based localization approaches are good enough in the context of self-driving vehicles. Towards this goal, we introduce Pit30M, a new image and LiDAR dataset with over 30 million frames,…

The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…

Simultaneous localization and mapping (SLAM) is one of the essential techniques and functionalities used by robots to perform autonomous navigation tasks. Inspired by the rodent hippocampus, this paper presents a biologically inspired SLAM…

We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans.…