ICRA2021|Intensity-SLAM:基于强度辅助的大规模环境定位和建图 论文、代码地址:在公众号「3D视觉工坊」,后台回复「Intensity-SLAM」,即可直接下载。摘要:SLAM是一项基于传感器感知(如LiDAR和相机)可用于估计机器人位置并重建环境的任务。它广泛应用于自动驾驶等机器人应用场景。传统基于 LiDAR 的 SLAM 算法主要利用场...
Calibration of LIDAR laser beams in terms of contrast and intensity levels is very important for map generation and localization of autonomous vehicles. In this paper, we explain a simple semi-calibration method based on matching the shape and distribution of histograms. A laser beam output is sel...
15.The device of claim 10, the circuitry being further configured to perform a local color correction operation on each pixel by:generating a scalar guide signal based on a Red, Green, Blue (RGB) value of the pixel;deriving a local color correction matrix from a bilateral grid of matrices ...
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping(SLAM). It is often tackled with light detection and ranging(LiDAR) sensor due to its view-point and illumination invariant properties. Existing works on 3D loop closure detection often leverage the...
In embodiments, application platform1360sensors and/or LED system552and/or556sensors may collect data such as visual data (e.g., LIDAR data, IR data, data collected via a camera, etc.), audio data, distance based data, movement data, environmental data, or the like or a combination thereo...
In this paper, we improve the accuracy of scan matching-based SLAM by applying accurate initial alignments calculated by global registration using measurements from LiDAR intensity and water puddles as features, which are often found in damaged nuclear power plants. From the experimental results in ...
Towards intensity-augmented SLAM with LiDAR and ToF sensors. In Proceedings of the IEEE/RSJ International in Intelligent Robots and Systems Conference (IROS), Hamburg, Germany, 28 September-2 October 2015; pp. 1956-1961.Robert A Hewitt and Joshua A Marshall. Towards intensity-augmented slam with...
Intensity and Ambient Enhanced Lidar-Inertial SLAM for Unstructured Construction Environmentdoi:10.7746/JKROS.2021.16.3.179Minwoo JungSangwoo JungHyesu JangAyoung KimThe Korea Robotics Society
SLAM attracts attention in the field of autonomous driving in recent years. However, facing with the outdoor complex environment such as uneven ground and uneven feature zone, most of the existing open source algorithms produce a large drift. In this paper, a lightweight LiDAR odometry is ...
Lidar intensity mapLine matchingInitial positionGPS jumpAutonous vehiclesWhile driving in typical traffic scenes with drastic drift or sudden jump of GPS positions, the localization methods based on wrong initial positions could not select the properly overlapping data from the pre-built map to match ...