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 …
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 …
TRAVEL: Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans
Perception of traversable regions and objects of interest from a 3D point cloud is one of the
critical tasks in autonomous navigation. A ground vehicle needs to look for traversable …
critical tasks in autonomous navigation. A ground vehicle needs to look for traversable …
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 …
Indoor mapping using low-cost MLS point clouds and architectural skeleton constraints
J Luo, Q Ye, S Zhang, Z Yang - Automation in Construction, 2023 - Elsevier
Abstract MLS (Mobile Laser Scanner) offers adequate mobility and the ability to obtain
accurate environmental data. However, it still faces some challenges, such as the heavy …
accurate environmental data. However, it still faces some challenges, such as the heavy …
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors
are often corrupted in those complicated and large-scale environments. This paper …
are often corrupted in those complicated and large-scale environments. This paper …
Determination of Optimum Coordinate Transformation Parameters for GNSS and LiDAR-Based Localization in Automated Vehicles
Localization is one of the most critical components of automated vehicles (AVs). Although
the positioning process in AVs is commonly carried out with global navigation satellite …
the positioning process in AVs is commonly carried out with global navigation satellite …
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
With the increasing demand for mobile robots and autonomous vehicles, several
approaches for long-term robot navigation have been proposed. Among these techniques …
approaches for long-term robot navigation have been proposed. Among these techniques …
Model-aided and vision-based navigation for an aerial robot in real-time application
M Alizadeh, AM Khoshnood - Intelligent Service Robotics, 2024 - Springer
In this paper, a novel navigation method with the assistance of a vehicle dynamic model
(VDM), known as the VDM-aided navigation method, is introduced. This method is …
(VDM), known as the VDM-aided navigation method, is introduced. This method is …
基于因子图的导航定位技术应用分析与思考.
潘献飞， 宁治文， 王茂松， 吴文启… - Control Theory & …, 2023 - search.ebscohost.com
不同于传统滤波方法, 因子图为传统的导航信息融合计算提供了另一种解决途径,
成为近年来的研究热点. 本文对因子图方法在导航定位领域的应用进行了梳理 …
成为近年来的研究热点. 本文对因子图方法在导航定位领域的应用进行了梳理 …