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2409.08681
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SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
13 September 2024
Zehuan Yu
Zhijian Qiao
Wenyi Liu
Huan Yin
Shaojie Shen
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Papers citing
"SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments"
50 / 57 papers shown
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Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold
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Junwoo Jang
Maani Ghaffari
Ayoung Kim
161
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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
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180
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Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM
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Huimin Lu
Zhiqiang Zheng
Hesheng Wang
Yun Liu
Xieyuanli Chen
315
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14 Mar 2025
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
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Zheng Liu
Hairuo Wei
Yixi Cai
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244
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Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map
Bo Pan
Yingyu Wang
Shoudong Huang
238
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17 May 2024
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Yue Pan
Xingguang Zhong
Louis Wiesmann
Thorbjörn Posewsky
Jens Behley
C. Stachniss
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373
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17 Jan 2024
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Computer Vision and Pattern Recognition (CVPR), 2023
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Tianyu Zhao
Guidong Wang
334
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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
370
62
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26 Sep 2023
LONER: LiDAR Only Neural Representations for Real-Time SLAM
IEEE Robotics and Automation Letters (RA-L), 2023
Seth Isaacson
Pou-Chun Kung
M. Ramanagopal
Ram Vasudevan
Katherine A. Skinner
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251
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10 Sep 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
IEEE Transactions on Automation Science and Engineering (IEEE TASE), 2023
Zhijian Qiao
Zehuan Yu
Binqian Jiang
Huan Yin
Shaojie Shen
3DPC
275
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22 Aug 2023
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Zehuan Yu
Zhijian Qiao
Liuyang Qiu
Huan Yin
Shaojie Shen
267
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14 Jul 2023
Quadric Representations for LiDAR Odometry, Mapping and Localization
IEEE Robotics and Automation Letters (RA-L), 2023
Chao Xia
Chenfeng Xu
Patrick Rim
Mingyu Ding
N. Zheng
Kurt Keutzer
Masayoshi Tomizuka
Wei Zhan
3DPC
237
12
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27 Apr 2023
NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping
IEEE International Conference on Computer Vision (ICCV), 2023
Junyuan Deng
Xieyuanli Chen
Songpengcheng Xia
Zhen Sun
Guoqing Liu
Wenxian Yu
Ling Pei
AI4CE
108
102
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19 Mar 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
International Journal of Computer Vision (IJCV), 2023
Huan Yin
Xuecheng Xu
Shan Lu
Xieyuanli Chen
R. Xiong
Shaojie Shen
C. Stachniss
Yue Wang
333
120
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15 Feb 2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework
IEEE Transactions on robotics (TRO), 2023
Jiarong Lin
Chongjiang Yuan
Yixi Cai
Haotian Li
Yunfan Ren
Yuying Zou
Xiaoping Hong
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250
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12 Jan 2023
GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration
IEEE Robotics and Automation Letters (RA-L), 2022
Parker C. Lusk
Devarth Parikh
Jonathan P. How
3DV
223
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24 Dec 2022
THMA: Tencent HD Map AI System for Creating HD Map Annotations
AAAI Conference on Artificial Intelligence (AAAI), 2022
Kun Tang
Xu Cao
Zhipeng Cao
Tongxi Zhou
Erlong Li
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Shengtao Zou
Chang-ling Liu
Shuqi Mei
Elena Sizikova
Chao Zheng
112
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14 Dec 2022
maplab 2.0 -- A Modular and Multi-Modal Mapping Framework
IEEE Robotics and Automation Letters (RA-L), 2022
Andrei Cramariuc
Lukas Bernreiter
Florian Tschopp
M. Fehr
Victor Reijgwart
Juan I. Nieto
Roland Siegwart
Cesar Cadena
174
67
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01 Dec 2022
Efficient Second-Order Plane Adjustment
Computer Vision and Pattern Recognition (CVPR), 2022
Lipu Zhou
3DV
144
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21 Nov 2022
Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localization
IEEE Robotics and Automation Letters (RA-L), 2022
Kavisha Vidanapathirana
Peyman Moghadam
Sridha Sridharan
Clinton Fookes
3DPC
195
32
0
10 Oct 2022
SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations
IEEE International Conference on Robotics and Automation (ICRA), 2022
Xingguang Zhong
Yue Pan
Jens Behley
C. Stachniss
3DV
280
92
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05 Oct 2022
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way
IEEE Robotics and Automation Letters (RA-L), 2022
Ignacio Vizzo
Tiziano Guadagnino
Benedikt Mersch
Louis Wiesmann
Jens Behley
C. Stachniss
3DPC
365
428
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30 Sep 2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
IEEE Robotics and Automation Letters (RA-L), 2022
Xiyuan Liu
Zheng Liu
Fanze Kong
Fu Zhang
298
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24 Sep 2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
IEEE Transactions on robotics (TRO), 2022
Zheng Liu
Xiyuan Liu
Fu Zhang
3DPC
227
44
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19 Sep 2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments
IEEE Transactions on robotics (TRO), 2022
Peng Yin
Haowen Lai
Shiqi Zhao
Ruohai Ge
Ji Zhang
Howie Choset
Sebastian Scherer
300
36
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14 Jul 2022
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
IEEE 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
149
51
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07 Jun 2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
IEEE 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
258
150
0
26 May 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
IEEE 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
225
31
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24 May 2022
Spectral Measurement Sparsification for Pose-Graph SLAM
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Kevin Doherty
David M. Rosen
J. Leonard
166
19
0
25 Mar 2022
M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robots
IEEE Robotics and Automation Letters (RA-L), 2021
J. Yin
Ang Li
Tao Li
Wenxian Yu
Danping Zou
197
234
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19 Dec 2021
Geometry-based Graph Pruning for Lifelong SLAM
G. Kurz
Matthias Holoch
P. Biber
161
20
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Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Kenny Chen
B. Lopez
Ali-akbar Agha-mohammadi
Ankur M. Mehta
373
166
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Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments
Giseop Kim
Sunwook Choi
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214
264
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CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure
IEEE International Conference on Robotics and Automation (ICRA), 2021
Pierre Dellenbach
Jean-Emmanuel Deschaud
Bastien Jacquet
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180
233
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On Bundle Adjustment for Multiview PointCloud Registration
IEEE 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
136
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FAST-LIO2: Fast Direct LiDAR-inertial Odometry
IEEE Transactions on robotics (TRO), 2021
Wei Xu
Yixi Cai
Dongjiao He
Jiarong Lin
Fu Zhang
216
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14 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
IEEE Transactions on robotics (TRO), 2021
Yulun Tian
Yun Chang
Fernando Herrera Arias
Carlos Nieto-Granda
Jonathan P. How
Luca Carlone
334
240
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28 Jun 2021
SuMa++: Efficient LiDAR-based Semantic SLAM
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019
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Andres Milioto
Andres Milioto Emanuele Palazzolo
Philippe Giguère
Jens Behley
C. Stachniss
228
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24 May 2021
MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square
IEEE International Conference on Robotics and Automation (ICRA), 2021
Yue Pan
Pengchuan Xiao
Yujie He
Zhenlei Shao
Zesong Li
252
205
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07 Feb 2021
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
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Andrew Violette
Marcus Abate
Nathan Hughes
Yun Chang
Jingang Shi
Arjun Gupta
Luca Carlone
3DV
432
295
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18 Jan 2021
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
IEEE 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
172
131
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BALM: Bundle Adjustment for Lidar Mapping
IEEE Robotics and Automation Letters (RA-L), 2020
Zheng Liu
Fu Zhang
235
203
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16 Oct 2020
4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving
German Conference on Pattern Recognition (DAGM), 2020
Patrick Wenzel
Rui Wang
Nan Yang
Qing Cheng
Qadeer Ahmad Khan
Lukas von Stumberg
Niclas Zeller
Zorah Lähner
296
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LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
IEEE 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
277
152
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03 Mar 2020
Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar Scans
European Conference on Mobile Robots (ECMR), 2019
A. Schaefer
Daniel Buscher
Johan Vertens
L. Luft
Wolfram Burgard
88
78
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
174
204
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27 Sep 2019
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
IEEE Robotics and Automation Letters (RA-L), 2019
Pierre-Yves Lajoie
Benjamin Ramtoula
Yun Chang
Luca Carlone
Giovanni Beltrame
176
210
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26 Sep 2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
IEEE Robotics and Automation Letters (RA-L), 2019
Heng Yang
Pasquale Antonante
Vasileios Tzoumas
Luca Carlone
464
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18 Sep 2019
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