相关论文: Robust 2D lidar-based SLAM in arboreal environment…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
In this paper, we study the three-dimensional (3D) simultaneous localization and mapping (SLAM) problem in complex outdoor and indoor environments based only on millimeter-wave (mmWave) wireless communication signals. Firstly, we propose a…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Adverse weather conditions, low-light environments, and bumpy road surfaces pose significant challenges to SLAM in robotic navigation and autonomous driving. Existing datasets in this field predominantly rely on single sensors or…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…
Simultaneous localization and mapping (SLAM) is one of the essential techniques and functionalities used by robots to perform autonomous navigation tasks. Inspired by the rodent hippocampus, this paper presents a biologically inspired SLAM…
Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…
Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…