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LIPS: LiDAR-Inertial 3D Plane SLAM
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018This paper presents the formalization of the closest point plane representation and an analysis of its incorporation in 3D indoor simultaneous localization and mapping (SLAM). We present a singularity free plane factor leveraging the closest point plane representation, and demonstrate its fusion with inertial preintegratation measurements in a graph ...
Patrick Geneva +3 more
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The LIDAR Odometry in the SLAM
2018 23rd Conference of Open Innovations Association (FRUCT), 2018This paper describes an algorithm that performs an contur analyzing of an environment with a single 2D Laser Imaging Detection and Ranging (LIDAR) sensor, as well as its implementation on a mobile platform using the Robot Operating System (ROS). The review of standard sensors shortcomings is provided in article.
Vasilii Kirnos +3 more
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Fast planar surface 3D SLAM using LIDAR
Robotics and Autonomous Systems, 2017In this paper we propose a fast 3D pose based SLAM system that estimates a vehicle’s trajectory by registering sets of planar surface segments, extracted from 360∘360∘ field of view (FOV) point clouds provided by a 3D LIDAR. Full FOV and planar representation of the map gives the proposed SLAM system the capability to map large-scale environments while
Kruno Lenac +3 more
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FELC-SLAM: feature extraction and loop closure optimized lidar SLAM system
Measurement Science and TechnologyAbstract Simultaneous Localization and Mapping (SLAM) is one of the key technologies in robot navigation and autonomous driving, playing an important role in robot navigation. Due to the sparsity of LiDAR data and the singularity of point cloud features, accuracy loss of LiDAR SLAM can occur during point cloud matching and localization ...
Ruizhen Gao +3 more
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D3VIL-SLAM: 3D Visual Inertial LiDAR SLAM for Outdoor Environments
2023 IEEE Intelligent Vehicles Symposium (IV), 2023Frosi, Matteo, Matteucci, Matteo
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Outdoor LiDAR-inertial SLAM using ground constraints
RoboticaAbstractThe current LiDAR-inertial odometry is prone to cumulative Z-axis error when it runs for a long time. This error can easily lead to the failure to detect the loop-closing in the correct scenario. In this paper, a ground-constrained LiDAR-inertial SLAM is proposed to solve this problem.
Yating Hu +4 more
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A large-scale microelectromechanical-systems-based silicon photonics LiDAR
Nature, 2022Xiaosheng Zhang +2 more
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Lidar reveals pre-Hispanic low-density urbanism in the Bolivian Amazon
Nature, 2022Heiko Prümers +2 more
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