Coin-lio: Complementary intensity-augmented lidar inertial odometry
P Pfreundschuh, H Oleynikova… - … on Robotics and …, 2024 - ieeexplore.ieee.org
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information
from LiDAR intensity with geometry-based point cloud registration. The focus of our work is …
from LiDAR intensity with geometry-based point cloud registration. The focus of our work is …
3D recognition based on sensor modalities for robotic systems: A survey
3D visual recognition is a prerequisite for most autonomous robotic systems operating in the
real world. It empowers robots to perform a variety of tasks, such as tracking, understanding …
real world. It empowers robots to perform a variety of tasks, such as tracking, understanding …
OREOS: Oriented recognition of 3D point clouds in outdoor scenarios
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A
Convolutional Neural Network is trained to extract compact descriptors from single 3D …
Convolutional Neural Network is trained to extract compact descriptors from single 3D …
Modeling laser intensities for simultaneous localization and mapping
S Khan, D Wollherr, M Buss - IEEE Robotics and Automation …, 2016 - ieeexplore.ieee.org
The objective of this letter is to develop a data-driven model of laser intensities and
investigate its usage for simultaneous localization and mapping (SLAM) in the field of …
investigate its usage for simultaneous localization and mapping (SLAM) in the field of …
Lighting-invariant visual odometry using lidar intensity imagery and pose interpolation
H Dong, TD Barfoot - Field and Service Robotics: Results of the 8th …, 2013 - Springer
Recent studies have demonstrated that images constructed from lidar reflectance
information exhibit superior robustness to lighting changes in outdoor environments in …
information exhibit superior robustness to lighting changes in outdoor environments in …
Towards relative continuous-time SLAM
S Anderson, TD Barfoot - 2013 IEEE International Conference …, 2013 - ieeexplore.ieee.org
Appearance-based batch nonlinear optimization techniques for simultaneous localization
and mapping (SLAM) have been highly successful in assisting robot motion estimation …
and mapping (SLAM) have been highly successful in assisting robot motion estimation …
Improving LiDAR point cloud classification using intensities and multiple echoes
C Reymann, S Lacroix - 2015 IEEE/RSJ International …, 2015 - ieeexplore.ieee.org
Besides precise and dense geometric information, some LiDARs also provide intensity
information and multiple echoes, information that can advantageously be exploited to …
information and multiple echoes, information that can advantageously be exploited to …
Into darkness: Visual navigation based on a lidar-intensity-image pipeline
Visual navigation of mobile robots has become a core capability that enables many
interesting applications from planetary exploration to self-driving cars. While systems built on …
interesting applications from planetary exploration to self-driving cars. While systems built on …
RANSAC for motion-distorted 3D visual sensors
S Anderson, TD Barfoot - 2013 IEEE/RSJ International …, 2013 - ieeexplore.ieee.org
Visual odometry (VO) is a highly efficient and powerful 6D motion estimation technique; state-
of-the-art bundle adjustment algorithms now optimize over several frames of temporally …
of-the-art bundle adjustment algorithms now optimize over several frames of temporally …
An intensity-enhanced LiDAR SLAM for unstructured environments
Z Dai, J Zhou, T Li, H Yao, S Sun… - … Science and Technology, 2023 - iopscience.iop.org
Traditional LiDAR simultaneous localization and mapping (SLAM) methods rely on
geometric features such as lines and planes to estimate pose. However, in unstructured …
geometric features such as lines and planes to estimate pose. However, in unstructured …