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SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments

IEEE Transactions on robotics (IEEE Trans. Robot.), 2024

13 September 2024

Papers citing "SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments"

50 / 57 papers shown

Title
CSMapping: Scalable Crowdsourced Semantic Mapping and Topology Inference for Autonomous Driving Zhijian Qiao Zehuan Yu Tong Li Chih-Chung Chou Wenchao Ding Shaojie Shen 20 0 0 03 Dec 2025
A Real-Time Multi-Model Parametric Representation of Point Clouds Yuan Gao Wei Dong 3DPC 89 0 0 18 Sep 2025
Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold Jaeho Shin Hyeonjae Gil Junwoo Jang Maani Ghaffari Ayoung Kim 134 0 0 24 Jul 2025
LiDAR, GNSS and IMU Sensor Alignment through Dynamic Time Warping to Construct 3D City Maps Haitian Wang Hezam Albaqami Xinyu Wang Muhammad Ibrahim Zainy M. Malakan Abdullah M. Algamdi Mohammed H. Alghamdi Ajmal Mian AI4CE 166 1 0 11 Jul 2025
Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM Neng Wang Huimin Lu Zhiqiang Zheng Hesheng Wang Yun Liu Xieyuanli Chen 250 0 0 14 Mar 2025
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization Rundong Li Zheng Liu Hairuo Wei Yixi Cai Haoyang Li Fu Zhang 240 1 0 26 Feb 2025
Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map Bo Pan Yingyu Wang Shoudong Huang 225 10 0 17 May 2024
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map ConsistencyIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Yue Pan Xingguang Zhong Louis Wiesmann Thorbjörn Posewsky Jens Behley C. Stachniss 3DPC 3DV 344 74 0 17 Jan 2024
SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation SystemComputer Vision and Pattern Recognition (CVPR), 2023 Yunfei Fan Tianyu Zhao Guidong Wang 327 25 0 04 Dec 2023
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations Minwoo Jung Wooseong Yang Dongjae Lee Hyeonjae Gil Giseop Kim Ayoung Kim 308 56 0 26 Sep 2023
LONER: LiDAR Only Neural Representations for Real-Time SLAMIEEE Robotics and Automation Letters (RA-L), 2023 Seth Isaacson Pou-Chun Kung M. Ramanagopal Ram Vasudevan Katherine A. Skinner 3DV 206 39 0 10 Sep 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid ModelIEEE Transactions on Automation Science and Engineering (IEEE TASE), 2023 Zhijian Qiao Zehuan Yu Binqian Jiang Huan Yin Shaojie Shen 3DPC 227 29 0 22 Aug 2023
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and PlanesIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Zehuan Yu Zhijian Qiao Liuyang Qiu Huan Yin Shaojie Shen 235 8 0 14 Jul 2023
Quadric Representations for LiDAR Odometry, Mapping and LocalizationIEEE Robotics and Automation Letters (RA-L), 2023 Chao Xia Chenfeng Xu Patrick Rim Mingyu Ding N. Zheng Kurt Keutzer Masayoshi Tomizuka Wei Zhan 3DPC 222 12 0 27 Apr 2023
NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and MappingIEEE International Conference on Computer Vision (ICCV), 2023 Junyuan Deng Xieyuanli Chen Songpengcheng Xia Zhen Sun Guoqing Liu Wenxian Yu Ling Pei AI4CE 98 101 0 19 Mar 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open ProblemsInternational Journal of Computer Vision (IJCV), 2023 Huan Yin Xuecheng Xu Shan Lu Xieyuanli Chen R. Xiong Shaojie Shen C. Stachniss Yue Wang 267 115 0 15 Feb 2023
ImMesh: An Immediate LiDAR Localization and Meshing FrameworkIEEE Transactions on robotics (TRO), 2023 Jiarong Lin Chongjiang Yuan Yixi Cai Haotian Li Yunfan Ren Yuying Zou Xiaoping Hong Fu Zhang 228 37 0 12 Jan 2023
GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR RegistrationIEEE Robotics and Automation Letters (RA-L), 2022 Parker C. Lusk Devarth Parikh Jonathan P. How 3DV 209 15 0 24 Dec 2022
THMA: Tencent HD Map AI System for Creating HD Map AnnotationsAAAI Conference on Artificial Intelligence (AAAI), 2022 Kun Tang Xu Cao Zhipeng Cao Tongxi Zhou Erlong Li ... Shengtao Zou Chang-ling Liu Shuqi Mei Elena Sizikova Chao Zheng 99 18 0 14 Dec 2022
maplab 2.0 -- A Modular and Multi-Modal Mapping FrameworkIEEE Robotics and Automation Letters (RA-L), 2022 Andrei Cramariuc Lukas Bernreiter Florian Tschopp M. Fehr Victor Reijgwart Juan I. Nieto Roland Siegwart Cesar Cadena 157 67 0 01 Dec 2022
Efficient Second-Order Plane AdjustmentComputer Vision and Pattern Recognition (CVPR), 2022 Lipu Zhou 3DV 129 5 0 21 Nov 2022
Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric LocalizationIEEE Robotics and Automation Letters (RA-L), 2022 Kavisha Vidanapathirana Peyman Moghadam Sridha Sridharan Clinton Fookes 3DPC 181 30 0 10 Oct 2022
SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural RepresentationsIEEE International Conference on Robotics and Automation (ICRA), 2022 Xingguang Zhong Yue Pan Jens Behley C. Stachniss 3DV 256 91 0 05 Oct 2022
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right WayIEEE Robotics and Automation Letters (RA-L), 2022 Ignacio Vizzo Tiziano Guadagnino Benedikt Mersch Louis Wiesmann Jens Behley C. Stachniss 3DPC 308 418 0 30 Sep 2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle AdjustmentIEEE Robotics and Automation Letters (RA-L), 2022 Xiyuan Liu Zheng Liu Fanze Kong Fu Zhang 277 60 0 24 Sep 2022
Efficient and Consistent Bundle Adjustment on Lidar Point CloudsIEEE Transactions on robotics (TRO), 2022 Zheng Liu Xiyuan Liu Fu Zhang 3DPC 203 44 0 19 Sep 2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale EnvironmentsIEEE Transactions on robotics (TRO), 2022 Peng Yin Haowen Lai Shiqi Zhao Ruohai Ge Ji Zhang Howie Choset Sebastian Scherer 250 36 0 14 Jul 2022
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR ScansIEEE Robotics and Automation Letters (RA-L), 2022 Mi-Suk Oh Eui-Hwang Jung Hyungtae Lim Wonho Song Sumin Hu E. Lee J. Park Jaekyung Kim Jangwoo Lee Hyun Myung 140 51 0 07 Jun 2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground EnvironmentsIEEE Robotics and Automation Letters (RA-L), 2022 Yun Chang K. Ebadi Chris Denniston M. Ginting Antoni Rosinol ... Jingang Shi Arghya Chatterjee B. Morrell Ali-akbar Agha-mohammadi Luca Carlone 231 145 0 26 May 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAMIEEE Robotics and Automation Letters (RA-L), 2022 Chris Denniston Yun Chang Andrzej Reinke K. Ebadi Gaurav Sukhatme Luca Carlone B. Morrell Ali-akbar Agha-mohammadi 198 31 0 24 May 2022
Spectral Measurement Sparsification for Pose-Graph SLAMIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Kevin Doherty David M. Rosen J. Leonard 160 18 0 25 Mar 2022
M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground RobotsIEEE Robotics and Automation Letters (RA-L), 2021 J. Yin Ang Li Tao Li Wenxian Yu Danping Zou 177 233 0 19 Dec 2021
Geometry-based Graph Pruning for Lifelong SLAM G. Kurz Matthias Holoch P. Biber 160 20 0 04 Oct 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 353 164 0 01 Oct 2021
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments Giseop Kim Sunwook Choi Ayoung Kim 182 261 0 28 Sep 2021
CT-ICP: Real-time Elastic LiDAR Odometry with Loop ClosureIEEE International Conference on Robotics and Automation (ICRA), 2021 Pierre Dellenbach Jean-Emmanuel Deschaud Bastien Jacquet Franccois Goulette 148 227 0 27 Sep 2021
On Bundle Adjustment for Multiview PointCloud RegistrationIEEE Robotics and Automation Letters (RA-L), 2021 Huaiyang Huang Yuxiang Sun Jin Wu Jianhao Jiao Xiangcheng Hu Linwei Zheng Lujia Wang Ming-Yuan Liu 3DPC 115 24 0 06 Aug 2021
FAST-LIO2: Fast Direct LiDAR-inertial OdometryIEEE Transactions on robotics (TRO), 2021 Wei Xu Yixi Cai Dongjiao He Jiarong Lin Fu Zhang 200 1,215 0 14 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot SystemsIEEE Transactions on robotics (TRO), 2021 Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 309 237 0 28 Jun 2021
SuMa++: Efficient LiDAR-based Semantic SLAMIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019 Xieyuanli Chen Andres Milioto Andres Milioto Emanuele Palazzolo Philippe Giguère Jens Behley C. Stachniss 191 505 0 24 May 2021
MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least SquareIEEE International Conference on Robotics and Automation (ICRA), 2021 Yue Pan Pengchuan Xiao Yujie He Zhenlei Shao Zesong Li 229 204 0 07 Feb 2021
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs Antoni Rosinol Andrew Violette Marcus Abate Nathan Hughes Yun Chang Jingang Shi Arjun Gupta Luca Carlone 3DV 359 291 0 18 Jan 2021
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-TimeIEEE Robotics and Automation Letters (RA-L), 2020 M. Palieri B. Morrell A. Thakur K. Ebadi J. Nash Arghya Chatterjee C. Kanellakis Luca Carlone C. Guaragnella A. Agha-mohammadi 164 131 0 28 Dec 2020
BALM: Bundle Adjustment for Lidar MappingIEEE Robotics and Automation Letters (RA-L), 2020 Zheng Liu Fu Zhang 213 203 0 16 Oct 2020
4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous DrivingGerman Conference on Pattern Recognition (DAGM), 2020 Patrick Wenzel Rui Wang Nan Yang Qing Cheng Qadeer Ahmad Khan Lukas von Stumberg Niclas Zeller Zorah Lähner 271 88 0 14 Sep 2020
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2020 K. Ebadi Yun Chang M. Palieri A. Stephens A. Hatteland ... Nobuhiro Funabiki B. Morrell Sally Wood Luca Carlone Ali-akbar Agha-mohammadi 231 150 0 03 Mar 2020
Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar ScansEuropean Conference on Mobile Robots (ECMR), 2019 A. Schaefer Daniel Buscher Johan Vertens L. Luft Wolfram Burgard 87 77 0 23 Oct 2019
SegMap: Segment-based mapping and localization using data-driven descriptors Renaud Dubé Andrei Cramariuc Daniel Dugas H. Sommer Marcin Dymczyk Juan I. Nieto Roland Siegwart Cesar Cadena 143 202 0 27 Sep 2019
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic TeamsIEEE Robotics and Automation Letters (RA-L), 2019 Pierre-Yves Lajoie Benjamin Ramtoula Yun Chang Luca Carlone Giovanni Beltrame 162 209 0 26 Sep 2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier RejectionIEEE Robotics and Automation Letters (RA-L), 2019 Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 397 274 0 18 Sep 2019

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SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments

Papers citing "SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments"