Results 41 to 50 of about 14,971 (201)
A Review of 2D Lidar SLAM Research
Remote SensingTwo-dimensional (2D) simultaneous localization and mapping (SLAM) is a key technology for intelligent indoor robots. By using a map generated via SLAM, the robot can navigate and perform specific tasks.
Yingying Ran +3 more
doaj +1 more source
Probabilistic Surfel Fusion for Dense LiDAR Mapping
, 2017 With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information.
Fookes, Clinton +4 more
core +1 more source
SuMa++: Efficient LiDAR-based Semantic SLAM [PDF]
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 Accepted by IROS 2019.
Chen, Xieyuanli +5 more
openaire +2 more sources
Robust Photogeometric Localization over Time for Map-Centric Loop Closure
, 2019 Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM and the result
Fookes, Clinton +5 more
core +1 more source
Dynamic Initialization for LiDAR-Inertial SLAM
IEEE/ASME Transactions on MechatronicsThe accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to failure. When the system faces urgent tasks, robust and fast initialization is required while the robot is moving, such ...
Jie Xu +6 more
openaire +2 more sources
Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping
, 2018 Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately after a new scan ...
Behnke, Sven, Droeschel, David
core +1 more source
Advanced Intelligent Systems, EarlyView.A hierarchical multimodal framework coupling a large language model for task decomposition and semantic mapping with a fine‐tuned vision‐language model for semantic perception, enhanced by GridMask, is presented. An aerial‐ground robot team exploits the semantic map for global and local planning.
Haokun Liu +6 more
wiley +1 more source
PASTEL: An Aerial Multi-LiDAR Dataset for Research in SLAM Tuning and Robustness
IEEE AccessLiDAR-based SLAM algorithms are critically dependent on the configuration of the environment and the LiDAR characteristics. Existing LiDAR-based datasets are not devised for research in SLAM parameter tuning due to limited diversity in types of ...
Robert Milijas +2 more
doaj +1 more source
LiDAR SLAM Global Positioning Uncertainty Estimation Based on Lie Group and MHSS theory [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information SciencesLiDAR based simultaneous localization and mapping (SLAM) plays an important role for real-time localization and 3D mobile mapping of autonomous systems. However, the long-term scan-to-scan matching in the SLAM can introduce uncertainty into the position ...
M. Liu, H. Zhang, B. Li, Z. Zhao
doaj +1 more source
UWB/LiDAR Fusion For Cooperative Range-Only SLAM [PDF]
2019 International Conference on Robotics and Automation (ICRA), 2019 We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network.
Song, Yang +4 more
openaire +3 more sources