相关论文: MS-Mapping: Multi-session LiDAR Mapping with Wasse…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

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…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…

As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

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…

Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents…

Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-efficient, does not directly optimize the mapping…

Map construction in large scale outdoor environment is of importance for robots to robustly fulfill their tasks. Massive sessions of data should be merged to distinguish low dynamics in the map, which otherwise might debase the performance…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

We propose a novel approach to the problem of multilevel clustering, which aims to simultaneously partition data in each group and discover grouping patterns among groups in a potentially large hierarchically structured corpus of data. Our…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

Fusion of LiDAR and RGB data has the potential to enhance outdoor 3D object detection accuracy. To address real-world challenges in outdoor 3D object detection, fusion of LiDAR and RGB input has started gaining traction. However, effective…

This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial…

In this paper, we propose Wasserstein Isometric Mapping (Wassmap), a nonlinear dimensionality reduction technique that provides solutions to some drawbacks in existing global nonlinear dimensionality reduction algorithms in imaging…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular complexities due to their unbounded characteristics. In this…