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Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through
urban scenarios and that successfully entered the finals of the 2007 DARPA Urban …
urban scenarios and that successfully entered the finals of the 2007 DARPA Urban …
An accurate closed-form estimate of ICP's covariance
A Censi - Proceedings 2007 IEEE international conference on …, 2007 - ieeexplore.ieee.org
Existing methods for estimating the covariance of the ICP (iterative closest/corresponding
point) algorithm are either inaccurate or are computationally too expensive to be used …
point) algorithm are either inaccurate or are computationally too expensive to be used …
AA-ICP: Iterative closest point with Anderson acceleration
AL Pavlov, GWV Ovchinnikov… - … on robotics and …, 2018 - ieeexplore.ieee.org
Iterative Closest Point (ICP) is a widely used method for performing scan-matching and
registration. Being simple and robust, this method is still computationally expensive and may …
registration. Being simple and robust, this method is still computationally expensive and may …
[PDF][PDF] Non-local scan consolidation for 3D urban scenes
Recent advances in scanning technologies, in particular devices that extract depth through
active sensing, allow fast scanning of urban scenes. Such rapid acquisition incurs …
active sensing, allow fast scanning of urban scenes. Such rapid acquisition incurs …
Lidar-based lane marker detection and map**
S Kammel, B Pitzer - 2008 ieee intelligent vehicles symposium, 2008 - ieeexplore.ieee.org
The detection of lane markers is a pre-requisite for many driver assistance systems as well
as for autonomous vehicles. In this paper, the lane marker detection approach that was …
as for autonomous vehicles. In this paper, the lane marker detection approach that was …
Urban building reconstruction from raw LiDAR point data
We present a method for automatic reconstruction of the volumetric structures of urban
buildings, directly from raw LiDAR point clouds. Given the large-scale LiDAR data from a …
buildings, directly from raw LiDAR point clouds. Given the large-scale LiDAR data from a …
On achievable accuracy for range-finder localization
A Censi - Proceedings 2007 IEEE International Conference on …, 2007 - ieeexplore.ieee.org
The covariance of every unbiased estimator is bounded by the Cramer-Rao lower bound,
which is the inverse of Fisher's information matrix. This paper shows that, for the case of …
which is the inverse of Fisher's information matrix. This paper shows that, for the case of …
How do ICP variants perform when used for scan matching terrain point clouds?
FA Donoso, KJ Austin, PR McAree - Robotics and Autonomous Systems, 2017 - Elsevier
Many variants of the Iterative Closest Point (ICP) algorithm have been proposed for
registering point clouds. This paper explores the performance of 20,736 ICP variants applied …
registering point clouds. This paper explores the performance of 20,736 ICP variants applied …
Revolution and rotation-based method for roadside LiDAR data integration
Recently, roadside LiDAR has been applied to different transportation areas. Data
integration (point registration) for multiple LiDAR sensors is an important step to extend the …
integration (point registration) for multiple LiDAR sensors is an important step to extend the …
6D scan registration using depth-interpolated local image features
This paper describes a novel registration approach that is based on a combination of visual
and 3D range information. To identify correspondences, local visual features obtained from …
and 3D range information. To identify correspondences, local visual features obtained from …