5 accepted papers
Achieving general 3D motion estimation for all-visibility has been a key challenge in robotics, especially in extreme environments. The widely adopted camera and LiDAR-based motion estimation critically deteriorate under fog or smoke. In this letter, we devised a unique sensor system for 3D velocity
This paper introduces a multimodal range dataset namely for radio detection and ranging (radar) and light detection and ranging (LiDAR) specifically targeting the urban environment. By extending our workshop paper [1] to a larger scale, this dataset focuses on the range sensor-based place recognitio…
Recent studies in radar-based navigation present promising navigation performance using scanning radars. These scanning radar-based odometry methods are mostly feature-based; they detect and match salient features within a radar image. Differing from existing feature-based methods, this paper report…
This paper presents a localization and mapping algorithm that leverages a radar system in low-visibility environments. We aim to address disaster situations in which prior knowledge of a place is available from CAD or light detection and ranging (LiDAR) maps, but incoming visibility is severely limi…
This paper describes a framework for direct visual simultaneous localization and mapping (SLAM) combining a monocular camera with sparse depth information from Light Detection and Ranging (LiDAR). To ensure realtime performance while maintaining high accuracy in motion estimation, we present (i) a s…