相关论文: An Adaptive ICP LiDAR Odometry Based on Reliable I…

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…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…

Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…

LiDAR-inertial odometry (LIO) plays a vital role in achieving accurate localization and mapping, especially in complex environments. However, the presence of LiDAR feature degeneracy poses a major challenge to reliable state estimation. To…

In recent years, deep-learning-based point cloud registration methods have shown significant promise. Furthermore, learning-based 3D detectors have demonstrated their effectiveness in encoding semantic information from LiDAR data. In this…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

For utilizing autonomous vehicle in urban areas a reliable localization is needed. Especially when HD maps are used, a precise and repeatable method has to be chosen. Therefore accurate map generation but also re-localization against these…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

This paper presents an approach for improving 2D/3D pelvis registration in optimization-based pose estimators using a learned initialization function. Current methods often fail to converge to the optimal solution when initialized naively.…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

Digital fringe projection (DFP) enables micrometer-level 3D reconstruction, yet extending it to large-scale mapping remains challenging because six-degree-of-freedom pose estimation often cannot match the reconstruction's precision.…

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…

Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…