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 …
Point cloud registration algorithm based on curvature feature similarity
In this paper, an improved iterative closest point (ICP) algorithm based on the curvature
feature similarity of the point cloud is proposed to improve the performance of classic ICP …
feature similarity of the point cloud is proposed to improve the performance of classic ICP …
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 …
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 …
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 …
Normal distributions transform is enough: Real-time 3D scan matching for pose correction of mobile robot under large odometry uncertainties
In this study, a 3D Normal Distributions Transform (NDT)-based pose correction framework
for a mobile robot is proposed to prove its robustness under a considerable odometry …
for a mobile robot is proposed to prove its robustness under a considerable odometry …
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 …
A precise scan matching based localization method for an autonomously guided vehicle in smart factories
A Yilmaz, E Sumer, H Temeltas - Robotics and Computer-Integrated …, 2022 - Elsevier
Precise localization and autonomous docking at industrial standards are major issues to be
handled in order to establish smart factories having end-user oriented production focus and …
handled in order to establish smart factories having end-user oriented production focus and …
A fast coarse-to-fine point cloud registration based on optical flow for autonomous vehicles
H Wang, H Liang, Z Li, P Zhou, L Chen - Applied Intelligence, 2023 - Springer
Point cloud registration is a vital prerequisite for many autonomous vehicle tasks. However,
balancing the accuracy and computational complexity is very challenging for existing point …
balancing the accuracy and computational complexity is very challenging for existing point …