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

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…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or household robotics. This repeated exposure to observing the…

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…

Modeling the evolution of high-dimensional systems from limited snapshot observations at irregular time points poses a significant challenge in quantitative biology and related fields. Traditional approaches often rely on dimensionality…

State-of-the-art techniques for monocular camera reconstruction predominantly rely on the Structure from Motion (SfM) pipeline. However, such methods often yield reconstruction outcomes that lack crucial scale information, and over time,…

We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe…

We present a novel computational framework for density control in high-dimensional state spaces. The considered dynamical system consists of a large number of indistinguishable agents whose behaviors can be collectively modeled as a…

The Wasserstein distance received a lot of attention recently in the community of machine learning, especially for its principled way of comparing distributions. It has found numerous applications in several hard problems, such as domain…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information. However, none of the previous approaches were able to effectively…

While building machine learning models, Feature selection (FS) stands out as an essential preprocessing step used to handle the uncertainty and vagueness in the data. Recently, the minimum Redundancy and Maximum Relevance (mRMR) approach…

Multidimensional scaling (MDS) is a popular dimensionality reduction techniques that has been widely used for network visualization and cooperative localization. However, the traditional stress minimization formulation of MDS necessitates…

Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…

Feature selection is a crucial step in machine learning, especially for high-dimensional datasets, where irrelevant and redundant features can degrade model performance and increase computational costs. This paper proposes a novel…

Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…

Joint distribution matching (JDM) problem, which aims to learn bidirectional mappings to match joint distributions of two domains, occurs in many machine learning and computer vision applications. This problem, however, is very difficult…

With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…

The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient,…