#和rangenet_lib同个workspace即可git clone https://github.com/PRBonn/semantic_suma.git# 下载额外的依赖项(或者自己将glow克隆到catkin工作区src中):catkin deps fetch# buildcatkin build --save-config -i --cmake-args -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=460-DENABLE_NVIDIA_EXT=YES 必须将...
激光测距扫描生成这类的语义地图 本方法利用了现代LiDAR SLAM pipeline的思想,并且包含由FCN进行语义分割后的语义信息 可生成高质量的语义地图,同时改善地图的几何形状和里程计的质量...SuMa++: Efficient LiDAR-based Semantic SLAM 摘要和引言 摘要 关键 方法 结果 引言 关键工作 过程 主要贡献 结果和讨论 结果 下...
@inproceedings{chen2019iros, author = {X. Chen and A. Milioto and E. Palazzolo and P. Giguère and J. Behley and C. Stachniss}, title = {{SuMa++: Efficient LiDAR-based Semantic SLAM}}, booktitle = {Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},...
LIDARThis work reports an information-based landmarks assisted simultaneous localization and mapping (InfoLa-SLAM) in large-scale scenes using single-line lidar. The solution employed two novel designs. The first design was a keyframe selection method based on Fisher information, which ...
题目:Efficient 3D Deep LiDAR Odometry 名称:高效 3D 深度激光雷达里程计 论文:arxiv.org/abs/2111.0213 代码:github.com/IRMVLab/Effi EDPLVO 题目:EDPLVO: Efficient Direct Point-Line Visual Odometry 名称:EDPLVO:高效的直接点线视觉里程计 论文:cs.cmu.edu/~kaess/pub/Z 代码: 9.EfficientSLAM ESLAM...
EfficientContinuous-timeSLAMfor3DLidar-basedOnlineMappingDavidDroeschelandSvenBehnkeIn:ProceedingsoftheInternationalConferenceonRoboticsandAutomationICRA018DOI:10.1109/ICRA.018.8461000Abstract—Modern3Dlaser-rangescannershaveahighdataratemakingonlinesimu
LiDAR SLAM的比较 在自动驾驶领域,定位是很重要的一环,为了建立更有鲁棒性、精确的定位,在实际自动驾驶车上往往都会使用激光雷达。激光雷达相比于摄像头,对光照变化不敏感,适合白天和黑夜,绝大多数路况。激光雷达获得的距离信息精度很高,获取的feature很稳定。当然,激光雷达LiDAR对大雨天,大雾天的精度会降低,空中颗粒物...
A 3D SLAM solution developed at CSIRO, consisting of a spinning 2D lidar and industrial-grade MEMS IMU was customized for this particular application. The system was designed to be mounted on a site vehicle which continuously acquires data at typical mine driving speeds without disrupting any mine...
LiDAR-IMU (single, multiple) wheel-IMU Camera-GPS-LiDAR-wheel-IMU or more combinations. Publication reference -https://arxiv.org/pdf/2309.15390.pdf Key Features Inertial(IMU)-based multi-sensor fusion including wheel odometry and arbitrary numbers of cameras, LiDARs, and GNSSs (+ VICON or loop...
OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition 来自 Semantic Scholar 喜欢 0 阅读量: 329 作者:J Ma,J Zhang,J Xu,R Ai,W Gu,C Stachniss,X Chen 摘要: Place recognition is an important capability for autonomously navigating vehicles ...