6 accepted papers
Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understanding. However, existing robotics datasets are predominantly captured in structured urban environments, making them inade…
In object detection, false negatives arise when a detector fails to detect a target object. To understand <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">why</i> object detectors produce false negatives, we identify five ‘false negative mechanisms,’
We propose a probabilistic framework for multi-modal global localisation using 3D point correspondences without needing to integrate over SE(3) for Bayesian inference. A finite set of transformation candidates is constructed by decomposing the known global map into local places and computing the max
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh (OVPC Mesh). Our approach represents the surrounding of the robot as a watertight 3D mesh generated from local point cloud data in…
We investigate the problem of colourising a point cloud using an arbitrary mobile mapping device and an independent camera. The loose coupling of sensors creates a number of challenges related to timing, point visibility, and colour determination. We address each of these problems and demonstrate ou
We present a novel method for mapping general three-dimensional environments, where sufficient geometric or visual information is not everywhere guaranteed and where the device motion is unconstrained as with handheld systems. The continuous-time simultaneous localization and mapping algorithm integ