ERASOR: Egocentric ratio of pseudo occupancy-based dynamic object removal for static 3D point cloud map building
Scan data of urban environments often include representations of dynamic objects, such as
vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud …
vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud …
Patchwork: Concentric zone-based region-wise ground segmentation with ground likelihood estimation using a 3D LiDAR sensor
Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or
neighboring object recognition. Unfortunately, the ground is not flat, as it features steep …
neighboring object recognition. Unfortunately, the ground is not flat, as it features steep …
Quatro++: Robust global registration exploiting ground segmentation for loop closing in LiDAR SLAM
Global registration is a fundamental task that estimates the relative pose between two
viewpoints of 3D point clouds. However, there are two issues that degrade the performance …
viewpoints of 3D point clouds. However, there are two issues that degrade the performance …
A single correspondence is enough: Robust global registration to avoid degeneracy in urban environments
Global registration using 3D point clouds is a crucial technology for mobile platforms to
achieve localization or manage loop-closing situations. In recent years, numerous …
achieve localization or manage loop-closing situations. In recent years, numerous …
AdaLIO: Robust adaptive LiDAR-inertial odometry in degenerate indoor environments
In recent years, the demand for mapping construction sites or buildings using light detection
and ranging (LiDAR) sensors has been increased to model environments for efficient site …
and ranging (LiDAR) sensors has been increased to model environments for efficient site …
PaGO-LOAM: Robust ground-optimized LiDAR odometry
Numerous researchers have conducted studies to achieve fast and robust ground-optimized
LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized …
LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized …
E-LOAM: LiDAR odometry and mapping with expanded local structural information
H Guo, J Zhu, Y Chen - IEEE Transactions on Intelligent …, 2022 - ieeexplore.ieee.org
This paper investigates the real time LiDAR odometry and mapping (LOAM) problem in
unstructured environments. We propose E-LOAM (LOAM with Expanded Local Structural …
unstructured environments. We propose E-LOAM (LOAM with Expanded Local Structural …
What if there was no revisit? Large-scale graph-based SLAM with traffic sign detection in an HD map using LiDAR inertial odometry
Accurate localization and mapping in a large-scale environment is an essential system of an
autonomous vehicle. The difficulty of the previous LiDAR or LiDAR-inertial simultaneous …
autonomous vehicle. The difficulty of the previous LiDAR or LiDAR-inertial simultaneous …
Updating point cloud layer of high definition (hd) map based on crowd-sourcing of multiple vehicles installed lidar
A high-definition (HD) map is becoming an integral component of future mobility systems
such as autonomous and connected vehicles. Advances in computing systems, LiDAR …
such as autonomous and connected vehicles. Advances in computing systems, LiDAR …
[HTML][HTML] A Review of Dynamic Object Filtering in SLAM Based on 3D LiDAR
H Peng, Z Zhao, L Wang - Sensors, 2024 - mdpi.com
SLAM (Simultaneous Localization and Mapping) based on 3D LiDAR (Laser Detection and
Ranging) is an expanding field of research with numerous applications in the areas of …
Ranging) is an expanding field of research with numerous applications in the areas of …