A survey on ground segmentation methods for automotive LiDAR sensors
In the near future, autonomous vehicles with full self-driving features will populate our public
roads. However, fully autonomous cars will require robust perception systems to safely …
roads. However, fully autonomous cars will require robust perception systems to safely …
Nerf-loam: Neural implicit representation for large-scale incremental lidar odometry and mapping
Simultaneously odometry and mapping using LiDAR data is an important task for mobile
systems to achieve full autonomy in large-scale environments. However, most existing …
systems to achieve full autonomy in large-scale environments. However, most existing …
Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3d point cloud
In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential
task for various purposes, such as traversable area detection and object recognition. Under …
task for various purposes, such as traversable area detection and object recognition. Under …
DreamWaQ: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
Quadrupedal robots resemble the physical ability of legged animals to walk through
unstructured terrains. However, designing a controller for quadrupedal robots poses a …
unstructured terrains. However, designing a controller for quadrupedal robots poses a …
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 …
Robust multi-task learning network for complex LiDAR point cloud data preprocessing
L Zhao, Y Hu, X Yang, Z Dou, L Kang - Expert Systems with Applications, 2024 - Elsevier
The utilization of 3D point clouds acquired via Light Detection and Ranging (LiDAR) is
widespread in the fields of autonomous driving, satellite remote sensing, and spatial …
widespread in the fields of autonomous driving, satellite remote sensing, and spatial …
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 …
Static map generation from 3D LiDAR point clouds exploiting ground segmentation
A clean and reliable map of the environment is key for a variety of robotic tasks including
localization, path planning, and navigation. Dynamic objects are an inherent part of our …
localization, path planning, and navigation. Dynamic objects are an inherent part of our …
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 …
Bevcontrast: Self-supervision in bev space for automotive lidar point clouds
We present a surprisingly simple and efficient method for self-supervision of 3D backbone
on automotive Lidar point clouds. We design a contrastive loss between features of Lidar …
on automotive Lidar point clouds. We design a contrastive loss between features of Lidar …