5 accepted papers
This letter introduces <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Nav</b>igation <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Tr</b>ansformer (NavTr), a novel framework for object-goal navigation
Distribution-to-distribution-based lidar odometry is known for its good accuracy, while it cannot run in real-time when the number of points is large. To alleviate this problem, Faster Generalized Iterative Closest Point (FasterGICP) is proposed in this letter, in which an acceptance-rejection sampl
Loop closure can effectively eliminate the accumulated error and plays an important role in Simultaneous Localization and Mapping (SLAM). There remains challenges in loop detection and loop correction due to the large viewpoints difference and the environment appearance changes. In this letter, we p
This letter presents a point cloud based loop-closure method to correct long-term drifts in Light Detection and Ranging based Simultaneous Localization and Mapping systems. In the method, we formulate each keyframe as a fully-connected graph with nodes representing planes. To detect loop-closures, t
Visual relocalization plays an important role in computer vision and robotics. However, feature ambiguities have made it remain challenging. In this work, we propose a novel regression forest based visual relocalization method that is performed in a coarse-to-fine manner. A topological regression tr