Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

27 October 2020

Papers citing "Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration"

45 / 45 papers shown

Title
AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter Xupeng Xie R. Geng Jun Ma Boyu Zhou 34 0 0 10 Mar 2025
HiMo: High-Speed Objects Motion Compensation in Point Clouds Qingwen Zhang Ajinkya Khoche Yi Yang Li Ling Sina Sharif Mansouri Olov Andersson Patric Jensfelt 3DPC 128 0 0 02 Mar 2025
LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System Jianping Li Zhongyuan Liu Xinhang Xu Jinxin Liu Shenghai Yuan Fang Xu Lihua Xie 86 3 0 18 Feb 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 57 3 0 17 Feb 2025
LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments Haosong Yue Qingyuan Xu Fei Chen Jia Pan Weihai Chen 3DPC 34 0 0 10 Jan 2025
UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry Jianping Li Xinhang Xu Jinxin Liu Kun Cao Shenghai Yuan Lihua Xie 81 4 0 18 Dec 2024
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments Jianhao Jiao R. Geng Yuanhang Li Ren Xin Bowen Yang Jin Wu Lujia Wang M. Liu Rui Fan Dimitrios Kanoulas 77 7 0 30 Nov 2024
GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation T. Nguyen Ziyu Cao Kailai Li Shenghai Yuan Lihua Xie 47 6 0 30 Oct 2024
HiSC4D: Human-centered interaction and 4D Scene Capture in Large-scale Space Using Wearable IMUs and LiDAR Yudi Dai Zhiyong Wang Xiping Lin Chenglu Wen Lan Xu Siqi Shen Yuexin Ma Cheng Wang 39 1 0 06 Sep 2024
Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR(-Inertial) SLAM Sanghyun Hahn Seunghun Oh Minwoo Jung Ayoung Kim Sangwoo Jung 26 0 0 19 Aug 2024
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System Xiangcheng Hu Jin Wu Jianhao Jiao Binqian Jiang Wei Zhang Wenshuo Wang Ping Tan 22 2 0 07 Aug 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 35 8 0 14 Jul 2024
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration Yifan Duan Xinran Zhang Guoliang You Yilong Wu Xingchen Li ... Xiaomeng Chu Jie Peng Yu Zhang Jianmin Ji Yanyong Zhang 30 3 0 09 May 2024
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation Xiangcheng Hu Linwei Zheng Jin Wu R. Geng Yang Yu Hexiang Wei Xiaoyu Tang Lujia Wang Jianhao Jiao Mingming Liu 25 13 0 31 Jan 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 46 43 0 29 Dec 2023
Multi-LiDAR Localization and Mapping Pipeline for Urban Autonomous Driving Florian Sauerbeck Dominik Kulmer Markus Pielmeier Maximilian Leitenstern Christoph Weiss Johannes Betz 21 1 0 03 Nov 2023
MUN-FRL: A Visual Inertial LiDAR Dataset for Aerial Autonomous Navigation and Mapping Ravindu G. Thalagala Sahan M. Gunawardena Oscar De Silva Awantha Jayasiri Arthur Gubbels George K. I Mann Raymond G. Gosine 19 5 0 12 Oct 2023
A Dynamic Points Removal Benchmark in Point Cloud Maps Qingwen Zhang Daniel Duberg R. Geng Mingkai Jia Lujia Wang Patric Jensfelt 3DPC 9 15 0 14 Jul 2023
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation M. Jung Sangwoo Jung Ayoung Kim 25 16 0 26 May 2023
LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solution Jianhao Jiao Feiyi Chen Hexiang Wei Jin Wu Mingming Liu 21 18 0 17 Mar 2023
Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments Qingqing Li Xianjia Yu Jorge Peña Queralta Tomi Westerlund 23 3 0 05 Mar 2023
IMU-based Online Multi-lidar Calibration Sandipan Das Bengt Boberg Maurice Fallon Saikat Chatterjee 20 2 0 28 Feb 2023
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations Hriday Bavle Jose Luis Sanchez-Lopez Muhammad Shaheer Javier Civera Holger Voos 22 35 0 22 Dec 2022
Observability-aware online multi-lidar extrinsic calibration Sandipan Das Ludvig af Klinteberg Maurice F. Fallon S. Chatterjee 13 13 0 19 Dec 2022
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments Turcan Tuna Julian Nubert Yoshua Nava Shehryar Khattak Marco Hutter Robotics Systems Lab 14 52 0 29 Nov 2022
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments Hriday Bavle Jose Luis Sanchez-Lopez Muhammad Shaheer Javier Civera H. Voos 13 5 0 16 Nov 2022
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance Sandipan Das N. Mahabadi Maurice F. Fallon S. Chatterjee 46 5 0 03 Oct 2022
FAST-LIO, Then Bayesian ICP, Then GTSFM Jerred Chen Xiangcheng Hu Shicong Ma Jianhao Jiao Mingming Liu F. Dellaert 20 2 0 01 Oct 2022
InTEn-LOAM: Intensity and Temporal Enhanced LiDAR Odometry and Mapping Shuaixin Li B. Tian Xiaozhou Zhu Jianjun Gui Yao Wen Guangyun Li 26 3 0 13 Sep 2022
Continuous Target-free Extrinsic Calibration of a Multi-Sensor System from a Sequence of Static Viewpoints Philipp Glira C. Weidinger Johann Weichselbaum 14 1 0 08 Jul 2022
LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloud Yunge Cui Yinlong Zhang Jiahua Dong Haibo Sun Xieyuanli Chen Feng Zhu 3DPC 19 37 0 13 Jun 2022
Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors Sandipan Das N. Mahabadi Addi Djikic Cesar Nassir S. Chatterjee Maurice F. Fallon 12 10 0 14 May 2022
HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDAR Yudi Dai Yi Lin Chenglu Wen Siqi Shen Lan Xu Jingyi Yu Yuexin Ma Cheng-i Wang 9 34 0 17 Mar 2022
Situational Graphs for Robot Navigation in Structured Indoor Environments Hriday Bavle Jose Luis Sanchez-Lopez Muhammad Shaheer Javier Civera Holger Voos 28 35 0 24 Feb 2022
NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint Thien-Minh Nguyen Shenghai Yuan Muqing Cao Yang Lyu T. Nguyen Lihua Xie 20 140 0 01 Feb 2022
Simultaneous Location of Rail Vehicles and Mapping of Environment with Multiple LiDARs Yusheng Wang Weiwei Song Y. Lou Fei Huang Zhiyong Tu Shimin Zhang 14 4 0 25 Dec 2021
GM-Livox: An Integrated Framework for Large-Scale Map Construction with Multiple Non-repetitive Scanning LiDARs Yusheng Wang Y. Lou Weiwei Song Huan Yu Zhiyong Tu 14 16 0 11 Oct 2021
R-PCC: A Baseline for Range Image-based Point Cloud Compression Sukai Wang Jianhao Jiao Peide Cai Ming-Yu Liu 3DPC 15 16 0 16 Sep 2021
Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization Xiyuan Liu Chongjian Yuan Fu Zhang 16 73 0 14 Sep 2021
On Bundle Adjustment for Multiview PointCloud Registration Huaiyang Huang Yuxiang Sun Jin Wu Jianhao Jiao Xiangcheng Hu Linwei Zheng Lujia Wang Ming-Yu Liu 3DPC 11 19 0 06 Aug 2021
VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM Thien-Minh Nguyen Shenghai Yuan Muqing Cao T. Nguyen Lihua Xie 15 43 0 07 May 2021
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping Thien-Minh Nguyen Shenghai Yuan Muqing Cao Lyun-Ho Yang T. Nguyen Lihua Xie 21 38 0 24 Apr 2021
Greedy-Based Feature Selection for Efficient LiDAR SLAM Jianhao Jiao Yilong Zhu Haoyang Ye Huaiyang Huang Peng Yun Linxin Jiang Lujia Wang Ming-Yu Liu 8 37 0 24 Mar 2021
Ford Multi-AV Seasonal Dataset Siddharth Agarwal Ankit Vora Gaurav Pandey Wayne Williams H. Kourous J. McBride 3DPC 57 116 0 17 Mar 2020
LIC-Fusion: LiDAR-Inertial-Camera Odometry Xingxing Zuo Patrick Geneva Woosik Lee Yong-jin Liu G. Huang 134 149 0 09 Sep 2019