To the best of our knowledge, the most recent light detection and ranging (lidar)-based
surveys have been focused only on specific applications such as reconstruction and …

Visual place recognition is a challenging problem due to the vast range of ways in which the
appearance of real-world places can vary. In recent years, improvements in visual sensing …

Understanding the terrain in the upcoming path of a ground robot is one of the most
challenging problems in field robotics. Terrain and traversability analysis is a …

This paper presents an automated and effective method for detecting 3D edges and tracing
feature lines from 3D-point clouds. This method is named Analysis of Geometric Properties …

Line segment detection in images is already a well-investigated topic, although it has
received considerably less attention in 3D point clouds. Benefiting from current LiDAR …

This paper presents the framework for the navigation and target tracking system for a mobile
robot. Navigation and target tracking are to be performed using a Microsoft Xbox Kinect …

Creating rich representations of environments requires integration of multiple sensing
modalities with complementary characteristics such as range and imaging sensors. To …

As one of the most common features in the man-made environments, straight lines play an
important role in many applications. In this paper, we present a new framework to extract line …

As the most common primitives, line segments play an essential role in the vectorized
reconstruction of artificial scenes. In this paper, a geometric feature enhanced line extraction …

Edges in mobile light detection and ranging (lidar) point clouds are important for many
applications but usually overlooked. In this letter, we propose a fast edge extraction method …