相关论文: Generalizing Unsupervised Lidar Odometry Model fro…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…

LiDAR odometry and localization are two widely used and fundamental applications in robotic and autonomous driving systems. Although state-of-the-art (SOTA) systems achieve high accuracy on clean point clouds, their robustness to corrupted…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

LiDAR is widely used in Simultaneous Localization and Mapping (SLAM) and autonomous driving. The LiDAR odometry is of great importance in multi-sensor fusion. However, in some unstructured environments, the point cloud registration cannot…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

Point cloud denoising is a fundamental and crucial challenge in real-world point cloud applications. Existing quantitative evaluation metrics for point cloud denoising methods are implemented in a supervised manner, which requires both the…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

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…

In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…

Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…

Robust and efficient deep LiDAR odometry models are crucial for accurate localization and 3D reconstruction, but typically require extensive and diverse training data to adapt to diverse environments, leading to inefficiencies. To tackle…