Results 41 to 50 of about 15,287 (197)
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
AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
Navigation, 2022 3D lidar-based simultaneous localization and mapping (SLAM) is a well-recognized solution for mapping and localization applications. However, the typical 3D lidar sensor (e.g., Velodyne HDL-32E) only provides a very limited field of view vertically. As a
Weisong Wen, Li-Ta Hsu
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
An Effective Multi-Cue Positioning System for Agricultural Robotics [PDF]
, 2018 The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios.
Grisetti, Giorgio +4 more
core +2 more sources
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
SuMa++: Efficient LiDAR-based Semantic SLAM [PDF]
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 Accepted by IROS 2019.
Xieyuanli Chen +5 more
openaire +2 more sources
High‐Speed Altitude Regulation With Neuromorphic Camera and Lightweight Embedded Computation
Advanced Intelligent Systems, EarlyView.Neuromorphic cameras deliver rapid, high‐dynamic‐range sensing but overwhelm embedded processors at high speeds. This work presents a lightweight, optimized Lucas–Kanade optical flow method with parallelization, gyroscopic derotation, and adaptive event slicing.
Simon L. Jeger +3 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
A Joint 3D-2D based Method for Free Space Detection on Roads
, 2018 In this paper, we address the problem of road segmentation and free space detection in the context of autonomous driving. Traditional methods either use 3-dimensional (3D) cues such as point clouds obtained from LIDAR, RADAR or stereo cameras or 2 ...
Arora, Chetan +4 more
core +1 more source