相关论文: TreeLoc: 6-DoF LiDAR Global Localization in Forest…

Reliable localization is essential for sustainable forest management, as it allows robots or sensor systems to revisit and monitor the status of individual trees over long periods. In modern forestry, this management is structured around…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…

This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Access to highly detailed models of heterogeneous forests, spanning from the near surface to above the tree canopy at varying scales, is increasingly in demand. This enables advanced computational tools for analysis, planning, and ecosystem…

LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…

In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…

In this paper, we present a novel end-to-end learning-based LiDAR relocalization framework, termed PointLoc, which infers 6-DoF poses directly using only a single point cloud as input, without requiring a pre-built map. Compared to RGB…

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…

The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…

Registering point clouds of forest environments is an essential prerequisite for LiDAR applications in precision forestry. State-of-the-art methods for forest point cloud registration require the extraction of individual tree attributes,…

We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans.…

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult…

While mobile LiDAR sensors are increasingly used to scan in ecology and forestry applications, reconstruction and characterisation are typically carried out offline (to the best of our knowledge). Motivated by this, we present an online…

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are…