相关论文: Degeneracy-Resilient Teach and Repeat for Geometri…

Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offers a reliable and cost-effective solution by avoiding the…

Frequency-modulated continuous-wave (FMCW) scanning radar has emerged as an alternative to spinning LiDAR for state estimation on mobile robots. Radar's longer wavelength is less affected by small particulates, providing operational…

Teach and repeat is a rapid way to achieve autonomy in challenging terrain and off-road environments. A human operator pilots the vehicles to create a network of paths that are mapped and associated with odometry. Immediately after…

This paper presents a system for robust, large-scale topological localisation using Frequency-Modulated Continuous-Wave (FMCW) scanning radar. We learn a metric space for embedding polar radar scans using CNN and NetVLAD architectures…

Reliable localization in prior maps is essential for autonomous navigation, particularly under adverse weather, where optical sensors may fail. We present CFEAR-TR, a teach-and-repeat localization pipeline using a single spinning radar,…

Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. In this letter, we present the first…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Visual Teach and Repeat 3 (VT&R3), a generalization of stereo VT&R, achieves long-term autonomous path-following using topometric mapping and localization from a single rich sensor stream. In this paper, we improve the capabilities of a…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…

Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high performance in autonomous repeated tasks under challenging…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…

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…

Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies…

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…

Localisation with Frequency-Modulated Continuous-Wave (FMCW) radar has gained increasing interest due to its inherent resistance to challenging environments. However, complex artefacts of the radar measurement process require appropriate…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically rely on 3D sensors such as stereo cameras for mapping and…

LiDAR Simultaneous Localization and Mapping (SLAM) systems are essential for enabling precise navigation and environmental reconstruction across various applications. Although current point-to-plane ICP algorithms perform effec- tively in…