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DVL-SLAM: sparse depth enhanced direct visual-LiDAR SLAM
Autonomous Robots, 2019This paper presents a framework for direct visual-LiDAR SLAM that combines the sparse depth measurement of light detection and ranging (LiDAR) with a monocular camera. The exploitation of the depth measurement between two sensor modalities has been reported in the literature but mostly by a keyframe-based approach or by using a dense depth map.
Young-Sik Shin +2 more
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LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing
IEEE Robotics and Automation Letters, 2021Real-time 6D pose estimation is a key component for autonomous indoor navigation of Unmanned Aerial Vehicles (UAVs). This letter presents a low-latency LiDAR SLAM framework based on LiDAR scan slicing and concurrent matching, called LoLa-SLAM. Our framework uses sliced point cloud data from a rotating LiDAR in a concurrent multi-threaded matching ...
Mojtaba Karimi +4 more
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SLAM of Robot based on the Fusion of Vision and LIDAR
2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2018The Simultaneous Localization and Mapping (SLAM) of robots plays an increasingly important role in the development of mobile robots. The two most commonly used methods are visual and LIDAR methods. In the visual design, the RGB-D camera is sensitive to light, and it has a narrow field of vision.
Yinglei Xu, Yongsheng Ou, Tiantian Xu
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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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D3VIL-SLAM: 3D Visual Inertial LiDAR SLAM for Outdoor Environments
2023 IEEE Intelligent Vehicles Symposium (IV), 2023Frosi, Matteo, Matteucci, Matteo
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Review on LiDAR-based SLAM Techniques
2021 International Conference on Signal Processing and Machine Learning (CONF-SPML), 2021openaire +1 more source
Efficient and Accurate Tightly-Coupled Visual-Lidar SLAM
IEEE Transactions on Intelligent Transportation Systems, 2022Chih-Chung Chou, Cheng-Fu Chou
exaly
Recognition of Degradation Scenarios for LiDAR SLAM Applications
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022Chenglin Yang +4 more
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