Scene Representations for Robotic Spatial Perception
The ability of a robot to build a persistent, accurate, and actionable model of its surroundings
through sensor data in a timely manner is crucial for autonomous operation. While …
through sensor data in a timely manner is crucial for autonomous operation. While …
Occupancy grid map** without ray-casting for high-resolution LiDAR sensors
Occupancy map** is a fundamental component of robotic systems to reason about the
unknown and known regions of the environment. This article presents an efficient occupancy …
unknown and known regions of the environment. This article presents an efficient occupancy …
Rog-map: An efficient robocentric occupancy grid map for large-scene and high-resolution lidar-based motion planning
Recent advances in LiDAR technology have opened up new possibilities for robotic
navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion …
navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion …
Real-time metric-semantic map** for autonomous navigation in outdoor environments
Slamesh: Real-time lidar simultaneous localization and meshing
Most current LiDAR simultaneous localization and map** (SLAM) systems build maps in
point clouds, which are sparse when zoomed in, even though they seem dense to human …
point clouds, which are sparse when zoomed in, even though they seem dense to human …
Dgnr: Density-guided neural point rendering of large driving scenes
Despite the recent success of Neural Radiance Field (NeRF), it is still challenging to render
large-scale driving scenes with long trajectories, particularly when the rendering quality and …
large-scale driving scenes with long trajectories, particularly when the rendering quality and …
SCE-LIO: An Enhanced Lidar Inertial Odometry by Constructing Submap Constraints
C Sun, Z Huang, B Wang, M ** (SLAM) systems, loop closure
detection is crucial for enhancing the accuracy of odometry. However, constraints from loop …
detection is crucial for enhancing the accuracy of odometry. However, constraints from loop …
The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods
Y Tao, MÁ Muñoz-Bañón, L Zhang, J Wang… - ar** techniques have enabled the creation of highly accurate
dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based …
dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based …