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08/22/2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
This study introduces a novel framework, G3Reg, for fast and robust glob...
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07/22/2023
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap
Global point cloud registration is essential in many robotics tasks like...
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07/21/2023
Online Monocular Lane Mapping Using Catmull-Rom Spline
In this study, we introduce an online monocular lane mapping approach th...
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07/14/2023
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes
In this paper, we present a centralized framework for multi-session LiDA...
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02/15/2023
A Survey on Global LiDAR Localization
Knowledge about the own pose is key for all mobile robot applications. T...
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05/02/2022
Semantic localization in BIM using a 3D LiDAR sensor
Conventional sensor-based localization relies on high-precision maps. Th...
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04/17/2022
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
LiDAR-based global localization is a fundamental problem for mobile robo...
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03/30/2022
PEGG-Net: Background Agnostic Pixel-Wise Efficient Grasp Generation Under Closed-Loop Conditions
Performing closed-loop grasping at close proximity to an object requires...
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06/18/2021
Improved Radar Localization on Lidar Maps Using Shared Embedding
We present a heterogeneous localization framework for solving radar glob...
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03/15/2021
Neural Motion Prediction for In-flight Uneven Object Catching
In-flight objects capture is extremely challenging. The robot is require...
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01/30/2021
Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning
Place recognition is critical for both offline mapping and online locali...
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10/21/2020
DiSCO: Differentiable Scan Context with Orientation
Global localization is essential for robot navigation, of which the firs...
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09/15/2020
RaLL: End-to-end Radar Localization on Lidar Map Using Differentiable Measurement Model
Radar sensor provides lighting and weather invariant sensing, which is n...
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09/01/2020
A Samplable Multimodal Observation Model for Global Localization and Kidnapping
Global localization and kidnapping are two challenging problems in robot...
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05/10/2020
Radar-on-Lidar: metric radar localization on prior lidar maps
Radar and lidar, provided by two different range sensors, each has pros ...
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03/10/2019
Communication constrained cloud-based long-term visual localization in real time
Visual localization is one of the primary capabilities for mobile robots...
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07/21/2018
Multi-session Map Construction in Outdoor Dynamic Environment
Map construction in large scale outdoor environment is of importance for...
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03/03/2018
Laser map aided visual inertial localization in changing environment
Long-term visual localization in outdoor environment is a challenging pr...
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12/06/2017