LIDARALGORITHMSTRAFFIC safetyAUTONOMOUS vehiclesSafe autonomous driving is the future trend, and achieving it requires precise and real-time simultaneous localization and mapping (SLAM). Many practitioners are concerned about the performance of LiDAR SLAM algorithms, but there is little research work to ...
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. ...
HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are used in HD map construction to ensure its high accuracy. To...
Considering that the field measurement of forest structures over large field plot is labor-intensive and time-consuming, a forest inventory system is developed based on unmanned aerial vehicle (UAV). This study presented the initial evaluation of this system by comparisons with LiDAR data. Results ...
Lidar points 通过point pillar获取特征到BEV视角转换 特征融合,然后经过BEV decoder输出三个分支,分别学习语义分割信息、实例embedding信息还有像素级别的方向信息 通过后处理方式,输出向量化的HDMap。 其中分支1很好理解,就是全图的语义分割信息,又监督就能学。分支2实例embedding这块借鉴实例分割的loss监督方式,先将每个像...
This paper presents an experimental evaluation and comparison of LiDAR SLAM algorithms for mobile robotics. We analyze the performance of four state-of-the-art methods for localization and mapping in terms of the capability in reconstructing a point cloud of the surveyed environment and of the ...
The sensor suite included a 3D lidar, 4D radars, stereo cameras, consumer-grade IMUs, and a GNSS/INS system. Sensor data packets were synchronized to GNSS time using a two-step process: a convex hull algorithm was applied to smooth host time jitter, and then odometry and correlation ...
This evaluation revealed that Visual SLAM requires more CPU resources than LiDAR SLAM, primarily due to additional data storage requirements, emphasizing the impact of environmental factors on resource requirements. In conclusion, LiDAR SLAM is more suitable for the outdoors due to its c...
Based on the assumption of functional capability of existing SLAM implementations, the paper evaluates specific details of urban car drives that arise when SLAM is to be used for automatic car control. In the presented case, LiDAR-based positioning is done with the Google Cartographer software ...
In this article,we address the task of experimental evaluation of autonomous map-based navigation of a Boston Dynamics Spot quadruped robot in confined environments equipped with the developed autonomy package that incorporates a 3D lidar,an IMU,and an onboard computer.For that,we propose an ...