7 accepted papers
The fusion of 3D LiDAR and 2D camera data has gained popularity in the field of robotics in recent years. Extrinsic calibration is a critical issue in sensor data fusion. Poor calibration can lead to corrupt data and system failure. This letter introduces a method based on photometric consistency fo
This letter presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic targetless co-calibration method is proposed to simultaneou
In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Base…
This letter proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane feature that enables the probabilistic representation of the environment and accurate registration of a new LiDAR scan. We further analyze
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes more demanding with the emerging of oscillating type lidars, which feature back-and-forth scanning patterns and complex distortions. Accurately correcting the point cloud distortion wo
Combining lidar in camera-based simultaneous localization and mapping (SLAM) is an effective method in improving overall accuracy, especially at outdoor large scale scenes. Recent development of low-cost lidars (e.g. Livox lidar) enable us to explore such SLAM systems with lower budget and higher pe…
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning natural edge features in the two sensors. On the theory lev