Results 61 to 70 of about 4,275 (207)

LOFF: LiDAR and Optical Flow Fusion Odometry

Drones
Simultaneous Location and Mapping (SLAM) is a common algorithm for position estimation in GNSS-denied environments. However, the high structural consistency and low lighting conditions in tunnel environments pose challenges for traditional visual SLAM ...
Junrui Zhang, Zhongbo Huang, Xingbao Zhu, Fenghe Guo, Chenyang Sun, Quanxi Zhan, Runjie Shen   +6 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 Sciences
LiDAR 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

Deep Reinforcement Learning Based Autonomous Decision‐Making for Cooperative Uncrewed Aerial Vehicles: A Search and Rescue Real World Application

Journal of Field Robotics, EarlyView.
ABSTRACT This paper presents the first end‐to‐end framework that combines guidance, navigation, and centralized task allocation for multiple UAVs performing autonomous search‐and‐rescue (SAR) in GNSS‐denied indoor environments. A twin delayed deep deterministic policy gradient controller is trained with an artificial potential field (APF) reward that ...
Thomas Hickling, Maxwell Hogan, Abdulla Tammam, Nabil Aouf   +3 more
wiley   +1 more source

Scale Estimation of Monocular Camera SLAM using a 2D Lidar [PDF]

, 2023
SLAM using a monocular camera has the problem that scale cannot be uniquely estimated, and scale drift occurs. This study uses 2D Lidar scan data to improve scale drift and enable scale estimation.
高橋 大陸
core   +1 more source

Automated Lawn Maintenance: An Agronomic and Operational Review of Turf Health, Biodiversity, and Field Performance

Journal of Field Robotics, EarlyView.
ABSTRACT Grass mowing is one of the most resource‐consuming activities in green maintenance, whether in private areas such as home gardens or in public spaces like urban parks. In recent years, concerns related to climate change, human health, and sustainability have become increasingly prominent in green maintenance, leading manufacturers and industry
Andrea Palladini, Lorenzo Guerrini, Marco Fontanelli, Lucia Bortolini   +3 more
wiley   +1 more source

Ground-SLAM: Ground Constrained LiDAR SLAM for Structured Multi-Floor Environments

CoRR, 2021
This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the well-known pose graph optimization framework.
Xin Wei, Jixin Lv, Jie Sun, Shiliang Pu
openaire   +2 more sources

FLSea: Underwater Visual–Inertial and Stereovision Forward‐Looking Data Sets

Journal of Field Robotics, EarlyView.
ABSTRACT Visibility underwater is challenging and degrades as the distance between the subject and the camera increases. That is why forward‐looking underwater computer vision tasks are difficult. We have collected underwater forward‐looking stereovision and visual–inertial image sets using two underwater imaging platforms, a stereo camera rig, and an ...
Yelena Randall, Ori Lifschitz, Tali Treibitz   +2 more
wiley   +1 more source

Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM [PDF]

, 2022
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry module, utilising a continuous-time trajectory representation, with an ...
Moghadam, Peyman, Khosoussi, Kasra, Catt, Gavin, Kottege, Navinda, Ramezani, Milad, Borges, Paulo, Pauling, Fred, Williams, Jason   +7 more
core   +1 more source

ADAPT: An Autonomous Forklift for Construction Site Operation

Journal of Field Robotics, EarlyView.
ABSTRACT Efficient material logistics are critical in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a solution to streamline on‐site logistics, reducing reliance on human operators and mitigating labor shortages.
Johannes Huemer, Markus Murschitz, Matthias Schörghuber, Lukas Reisinger, Thomas Kadiofsky, Christoph Weidinger, Mario Niedermeyer, Benedikt Widy, Marcel Zeilinger, Csaba Beleznai, Tobias Glück, Andreas Kugi, Patrik Zips   +12 more
wiley   +1 more source

A SLAM System with Direct Velocity Estimation for Mechanical and Solid-State LiDARs

Remote Sensing, 2022
Simultaneous localization and mapping (SLAM) is essential for intelligent robots operating in unknown environments. However, existing algorithms are typically developed for specific types of solid-state LiDARs, leading to weak feature representation ...
Lu Jie, Zhi Jin, Jinping Wang, Letian Zhang, Xiaojun Tan   +4 more
doaj   +1 more source