1 year, 1000 km: The oxford robotcar dataset
We present a challenging new dataset for autonomous driving: the Oxford RobotCar
Dataset. Over the period of May 2014 to December 2015 we traversed a route through …
Dataset. Over the period of May 2014 to December 2015 we traversed a route through …
Balm: Bundle adjustment for lidar mapping
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …
Efficient continuous-time SLAM for 3D lidar-based online mapping
D Droeschel, S Behnke - 2018 IEEE International Conference …, 2018 - ieeexplore.ieee.org
Modern 3D laser-range scanners have a high data rate, making online simultaneous
localization and mapping (SLAM) computationally challenging. Recursive state estimation …
localization and mapping (SLAM) computationally challenging. Recursive state estimation …
Performance analysis of 10 models of 3D LiDARs for automated driving
Automated vehicle technology has recently become reliant on 3D LiDAR sensing for
perception tasks such as mapping, localization and object detection. This has led to a rapid …
perception tasks such as mapping, localization and object detection. This has led to a rapid …
[PDF][PDF] Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping.
We propose an information-theoretic planning approach that enables mobile robots to
autonomously construct dense 3D maps in a computationally efficient manner. Inspired by …
autonomously construct dense 3D maps in a computationally efficient manner. Inspired by …
Targetless extrinsic calibration of multiple small FoV LiDARs and cameras using adaptive voxelization
Determining the extrinsic parameter between multiple light detection and rangings (LiDARs)
and cameras is essential for autonomous robots, especially for solid-state LiDARs, where …
and cameras is essential for autonomous robots, especially for solid-state LiDARs, where …
Information-theoretic mapping using cauchy-schwarz quadratic mutual information
We develop a computationally efficient control policy for active perception that incorporates
explicit models of sensing and mobility to build 3D maps with ground and aerial robots. Like …
explicit models of sensing and mobility to build 3D maps with ground and aerial robots. Like …
Mobile robotic brickwork: automation of a discrete robotic fabrication process using an autonomous mobile robot
This paper describes the implementation of a discrete in situ construction process using a
location-aware mobile robot. An undulating dry brick wall is semi-autonomously fabricated in …
location-aware mobile robot. An undulating dry brick wall is semi-autonomously fabricated in …
Low-cost retina-like robotic lidars based on incommensurable scanning
High performance light detection and ranging (lidars) are essential in autonomous robots
such as self-driving cars, automated ground vehicles and intelligent machines. Traditional …
such as self-driving cars, automated ground vehicles and intelligent machines. Traditional …
Continuous mapping and localization for autonomous navigation in rough terrain using a 3D laser scanner
For autonomous navigation in difficult terrain, such as degraded environments in disaster
response scenarios, robots are required to create a map of an unknown environment and to …
response scenarios, robots are required to create a map of an unknown environment and to …