LiDAR odometry survey: recent advancements and remaining challenges
Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …
methods like global positioning system are unavailable. The main goal of odometry is to …
Mcd: Diverse large-scale multi-campus dataset for robot perception
Perception plays a crucial role in various robot applications. However existing well-
annotated datasets are biased towards autonomous driving scenarios while unlabelled …
annotated datasets are biased towards autonomous driving scenarios while unlabelled …
[HTML][HTML] A LiDAR-intensity SLAM and loop closure detection method using an intensity cylindrical-projection shape context descriptor
X Zhang, H Zhang, C Qian, B Li, Y Cao - International Journal of Applied …, 2023 - Elsevier
Abstract LiDAR Simultaneous Localization and Mapping (SLAM) is able to map unknown
scene while online estimating the LiDAR's pose. Traditional LiDAR SLAM frameworks …
scene while online estimating the LiDAR's pose. Traditional LiDAR SLAM frameworks …
iG-LIO: An incremental Gicp-based tightly-coupled LiDAR-inertial odometry
This work proposes an incremental Generalized Iterative Closest Point (GICP) based tightly-
coupled LiDAR-inertial odometry (LIO), iG-LIO, which integrates the GICP constraints and …
coupled LiDAR-inertial odometry (LIO), iG-LIO, which integrates the GICP constraints and …
3D LiDAR SLAM: A survey
Simultaneous localization and mapping (SLAM) is a very challenging yet fundamental
problem in the field of robotics and photogrammetry, and it is also a prerequisite for …
problem in the field of robotics and photogrammetry, and it is also a prerequisite for …
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 …
mVLINS: A Multilevel Visual-LiDAR-Inertial Navigation System with Completely Decoupled Odometry and Adaptive Environmental Mapping
B Zhang, W Yao, Y Wang, P Li… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
The core component of the navigation system is the process of multi-sensor fusion
localization in a challenging environment with limited GNSS constraints. This process is …
localization in a challenging environment with limited GNSS constraints. This process is …
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM
algorithm with an explicit focus on computational efficiency, operational reliability, and real …
algorithm with an explicit focus on computational efficiency, operational reliability, and real …
Radarize: Large-Scale Radar SLAM for Indoor Environments
We present Radarize, a self-contained SLAM pipeline for indoor environments that uses
only a low-cost commodity single-chip mmWave radar. Our radar-native approach leverages …
only a low-cost commodity single-chip mmWave radar. Our radar-native approach leverages …
Outlier-Robust Long-Term Robotic Mapping Leveraging Ground Segmentation
H Lim - arXiv preprint arXiv:2405.11176, 2024 - arxiv.org
Despite the remarkable advancements in deep learning-based perception technologies and
simultaneous localization and mapping~(SLAM), one can face the failure of these …
simultaneous localization and mapping~(SLAM), one can face the failure of these …