LiDAR odometry survey: recent advancements and remaining challenges
Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …
methods like global positioning system are unavailable. The main goal of odometry is to …
Mcd: Diverse large-scale multi-campus dataset for robot perception
Perception plays a crucial role in various robot applications. However existing well-
annotated datasets are biased towards autonomous driving scenarios while unlabelled …
annotated datasets are biased towards autonomous driving scenarios while unlabelled …
[HTML][HTML] A LiDAR-intensity SLAM and loop closure detection method using an intensity cylindrical-projection shape context descriptor
X Zhang, H Zhang, C Qian, B Li, Y Cao - International Journal of Applied …, 2023 - Elsevier
Abstract LiDAR Simultaneous Localization and Map** (SLAM) is able to map unknown
scene while online estimating the LiDAR's pose. Traditional LiDAR SLAM frameworks …
scene while online estimating the LiDAR's pose. Traditional LiDAR SLAM frameworks …
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose
estimation due to its use of high-accuracy range measurements and immunity to ambient …
estimation due to its use of high-accuracy range measurements and immunity to ambient …
Informed, constrained, aligned: A field analysis on degeneracy-aware point cloud registration in the wild
T Tuna, J Nubert, P Pfreundschuh, C Cadena… - ar**
B Zhang, W Yao, Y Wang, P Li… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
The core component of the navigation system is the process of multi-sensor fusion
localization in a challenging environment with limited GNSS constraints. This process is …
localization in a challenging environment with limited GNSS constraints. This process is …