相关论文: CTE-MLO: Continuous-time and Efficient Multi-LiDAR…

We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…

Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…

Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating…

LiDAR odometry is one of the essential parts of LiDAR simultaneous localization and mapping (SLAM). However, existing LiDAR odometry tends to match a new scan simply iteratively with previous fixed-pose scans, gradually accumulating errors.…

This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem 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…

Cloud formations often obscure optical satellite-based monitoring of the Earth's surface, thus limiting Earth observation (EO) activities such as land cover mapping, ocean color analysis, and cropland monitoring. The integration of machine…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

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…

Real-time LiDAR-visual-inertial odometry and mapping is crucial for navigation and planning tasks in intelligent transportation systems. This study presents a pose-only bundle adjustment (PA) LiDAR-visual-inertial odometry (LVIO), named…

We present RailLoMer in this article, to achieve real-time accurate and robust odometry and mapping for rail vehicles. RailLoMer receives measurements from two LiDARs, an IMU, train odometer, and a global navigation satellite system (GNSS)…

LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…

Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Modeling (BIM), and robot navigation. Motorized LiDAR systems…

This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Kalman filter (KF) based methods for multi-object tracking (MOT) make an assumption that objects move linearly. While this assumption is acceptable for very short periods of occlusion, linear estimates of motion for prolonged time can be…