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07/17/2023
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
Occupancy mapping is a fundamental component of robotic systems to reaso...
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01/12/2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping ...
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11/19/2022
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
The emergence of low-cost, small form factor and light-weight solid-stat...
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09/26/2022
STD: Stable Triangle Descriptor for 3D place recognition
In this work, we present a novel global descriptor termed stable triangl...
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09/08/2022
R^3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
Simultaneous localization and mapping (SLAM) are crucial for autonomous ...
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08/08/2022
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
In recent years, mobile robots are becoming ambitious and deployed in la...
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09/10/2021
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion f...
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07/14/2021
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inert...
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02/24/2021
R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
In this letter, we propose a robust, real-time tightly-coupled multi-sen...
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07/03/2020
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
LiDAR is playing a more and more essential role in autonomous driving ve...
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09/25/2019
A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
This paper presents a loop closure method to correct the long-term drift...
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09/15/2019
Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
LiDAR odometry and mapping (LOAM) has been playing an important role in ...
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03/21/2019
