相关论文: LiDAR-based Registration against Georeferenced Mod…

Spectrum sensing and the generation of 3D Radio Environment Maps (REMs) are essential for enabling spectrum sharing within cognitive radio networks. While Uncrewed Aerial Vehicles (UAVs) offer high-mobility 3D sensing, REM accuracy is…

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision…

LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…

Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…

Synthetic aperture radar (SAR) tomography (TomoSAR) retrieves three-dimensional (3-D) information from multiple SAR images, effectively addresses the layover problem, and has become pivotal in urban mapping. Unmanned aerial vehicle (UAV)…

Deployment of automated ground vehicles (AGVs) beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…

This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives, including planes,…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR state estimation system for AVs. Firstly, we utilize LiDAR to…

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…

Localization in aerial imagery-based maps offers many advantages, such as global consistency, geo-referenced maps, and the availability of publicly accessible data. However, the landmarks that can be observed from both aerial imagery and…

Lidar technology has been widely employed across various applications, such as robot localization in GNSS-denied environments and 3D reconstruction. Recent advancements have introduced different lidar types, including cost-effective…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

UAVs have become one of the widely used remote sensing platforms and played a critical role in the construction of smart cities. However, due to the complex environment in urban scenes, secure and accurate data acquisition brings great…

Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…

In this paper, we investigate joint unmanned aerial vehicle (UAV) formation and resource allocation optimization for communication-assisted three-dimensional (3D) synthetic aperture radar (SAR) sensing. We consider a system consisting of…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…