7 accepted papers
Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging conditions (e.g., sensor degeneracy and noisy observations). Therefor
Scene flow estimation determines a scene’s 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create a pseudo-image for real-time running. However, the voxelizat…
The rotation orthonormalization on the special orthogonal group \text{SO}(n)\text{SO}(n), also known as the high dimensional nearest rotation problem, has been revisited. A new generalized simple iterative formula has been proposed that solves this problem in a completely rational manner. Rational o…
Having good knowledge of terrain information is essential for improving the performance of various downstream tasks on complex terrains, especially for the locomotion and navigation of legged robots. We present a novel framework for neural urban terrain reconstruction with uncertainty estimations. I
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mob…
Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs are fused through transformers for better driving performan…
A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which s…