相关论文: LiDAR-based Registration against Georeferenced Mod…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR…
This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP…
Unmanned Aerial Vehicles (UAVs) equipped with LiDAR, electro-optical and infrared cameras, SAR and atmospheric sensors have transformed the way we acquire high spatio-temporal resolution data. For example, UAVs equipped with these sensors…
In airborne light detection and ranging (LiDAR) systems, misalignments between the LiDAR-scanner and the inertial navigation system (INS) mounted on an unmanned aerial vehicle (UAV)'s frame can lead to inaccurate 3D point clouds.…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
LiDAR place recognition is a critical capability for autonomous navigation and cross-modal localization in large-scale outdoor environments. Existing approaches predominantly depend on pre-built 3D dense maps or aerial imagery, which impose…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…