6 accepted papers
LiDAR-based odometry is widely used in ground robot localization. However, current methods encounter challenges in accuracy and robustness due to structural degradation, system observational error, and accumulated error. To address the above issues, we propose CPBA-LIWO, a continuous-time LiDAR-Iner…
Test-time compute allocation in large reasoning models (LRMs) is widely used and has applications in mathematical problem solving, code synthesis, and planning. Recent work has addressed this problem by scaling self-consistency and parallel thinking, adding generic thinking tokens and prompting mode…
Most current LiDAR-based odometry methods use point-to-local plane registration to constrain poses, ignoring the explicit plane structure in the environment. Due to noise interference and uneven distribution of point cloud, local planes are prone to tilt, resulting in registration errors. Therefore,
Recent research shows that supplementing Large Language Models (LLMs) with knowledge graphs can enhance their performance. However, existing methods often introduce noise in the retrieval and reasoning pipeline, hindering LLMs’ ability to effectively integrate external knowledge for complex multi-ho…
Accurate and robust LiDAR odometry is a crucial technology for robot localization. However, motion distortion and ranging error make it a bottleneck. Most existing methods are limited in accuracy and robustness because they simply compensate for motion distortion by constant velocity motion assumpti…
Simultaneous Localization and Mapping (SLAM) is widely used in applications such as robotics and autonomous driving, with methods involving multi-sensor fusion demonstrating excellent performance. However, they simply reject dynamic features and ignore the mutual benefits of self and dynamic objects…