Lidar-based place recognition for autonomous driving: A survey
LiDAR has gained popularity in autonomous driving due to advantages like long
measurement distance, rich three-dimensional information, and stability in harsh …
measurement distance, rich three-dimensional information, and stability in harsh …
A survey on global lidar localization: Challenges, advances and open problems
Abstract Knowledge about the own pose is key for all mobile robot applications. Thus pose
estimation is part of the core functionalities of mobile robots. Over the last two decades …
estimation is part of the core functionalities of mobile robots. Over the last two decades …
[PDF][PDF] A survey on global lidar localization
Knowledge about the own pose is key for all mobile robot applications. Thus pose
estimation is part of the core functionalities of mobile robots. In the last two decades, LiDAR …
estimation is part of the core functionalities of mobile robots. In the last two decades, LiDAR …
Contour context: Abstract structural distribution for 3D LiDAR loop detection and metric pose estimation
B Jiang, S Shen - 2023 IEEE international conference on …, 2023 - ieeexplore.ieee.org
This paper proposes Contour Context, a simple, effective, and efficient topological loop
closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban …
closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban …
Outram: One-shot global localization via triangulated scene graph and global outlier pruning
One-shot LiDAR localization refers to the ability to estimate the robot pose from one single
point cloud, which yields significant advantages in initialization and relocalization …
point cloud, which yields significant advantages in initialization and relocalization …
G3reg: Pyramid graph-based global registration using gaussian ellipsoid model
This study introduces a novel framework, G3Reg, for fast and robust global registration of
LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we …
LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we …
Mitigating distributional shift in semantic segmentation via uncertainty estimation from unlabelled data
Knowing when a trained segmentation model is encountering data that is different to its
training data is important. Understanding and mitigating the effects of this play an important …
training data is important. Understanding and mitigating the effects of this play an important …
A Staged Real-Time Ground Segmentation Algorithm of 3D LiDAR Point Cloud
W Deng, X Chen, J Jiang - Electronics, 2024 - mdpi.com
Ground segmentation is a crucial task in the field of 3D LiDAR perception for autonomous
driving. It is commonly used as a preprocessing step for tasks such as object detection and …
driving. It is commonly used as a preprocessing step for tasks such as object detection and …
Real-Time Bucket Pose Estimation Based on Deep Neural Network and Registration Using Onboard 3D Sensor
Z Xu, L Bi, Z Zhao - Sensors, 2023 - mdpi.com
Real-time and accurate bucket pose estimation plays a vital role in improving the
intelligence level of mining excavators, as the bucket is a crucial component of the …
intelligence level of mining excavators, as the bucket is a crucial component of the …
Sense–Assess–eXplain (SAX): Building trust in autonomous vehicles in challenging real-world driving scenarios
This paper discusses ongoing work in demonstrating research in mobile autonomy in
challenging driving scenarios. In our approach, we address fundamental technical issues to …
challenging driving scenarios. In our approach, we address fundamental technical issues to …