림형태

Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the dynamic objects often leave unwanted traces in the map. These traces of dynamic objects act as obstacles and thus impede mobile vehicles from achieving good localization and navigation performances. To tackle the problem, this letter presents a novel static map

Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower beds, and so forth. To tackle the problem, this letter presents a novel ground segmentation method called Patchwork, which is robust for addressing the under-segmentation problem and operates at more than 40 Hz. In this letter, a point cloud is encoded into a Conc

In recent years, the demand for mapping construction sites or buildings using light detection and ranging (LiDAR) sensors has been increased to model environments for efficient site management. However, it is observed that sometimes LiDAR-based approaches diverge in narrow and confined environments, such as spiral stairs and corridors, caused by fixed parameters regardless of the changes in the environments. That is, the parameters of LiDAR (-inertial) odometry are mostly set for open space; thu

A map of the environment is an essential component for robotic navigation.In the majority of cases, a map of the static part of the world is the basis for localization, planning, and navigation.However, dynamic objects that are presented in the scenes during mapping leave undesirable traces in the map, which can impede mobile robots from achieving successful robotic navigation.To remove the artifacts caused by dynamic objects in the map, we propose a novel instance-aware map building method.Our

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue and the other is degeneracy. The sparsity issue is caused by the sparse characteristics of the 3D point cloud measurements in a mechanically spinning LiDAR sensor. The degeneracy issue sometimes occurs because the outlier-rejection methods reject too many cor

Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer from mutual interference, which degrades the performance of feature extraction and matching, triggering imprecise matching pairs, which are referred to as outliers. To tackle the effect of outliers on radar odometry, <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$a$</tex

In this study, a 3D Normal Distributions Transform (NDT)-based pose correction framework for a mobile robot is proposed to prove its robustness under a considerable odometry uncertainty. Our proposed method consists of Extended Kalman Filter based on IMU and wheel odometry to estimate initial pose and NDT that corrects the initial guess via 3D scans. Then, the final pose correction is retrieved with Kalman gain using corrected poses from both EKF and NDT, followed by point cloud accumulation tha

In this study, a three-layered bidirectional Long Short-term Memory (Bi-LSTM) with residual attention, named as RONet, is proposed to achieve localization using range measurements. Accordingly, we acquired our own datasets and tested RONet using realistic conditions. It is shown that the RONet can estimate the position of the mobile robot in real time using the Nvidia Jetson AGX Xavier based only on range measurements. We also analyzed the sequence length of LSTM as a type of hyperparameters. We

A synthetic air data system (SADS) is an analytical redundancy technique that is crucial for unmanned aerial vehicles (UAVs) and is used as a backup system during air data sensor failures. Unfortunately, the existing state-of-the-art approaches for SADS require GPS signals or high-fidelity dynamic UAV models. To address this problem, a novel synthetic airspeed estimation method that leverages deep learning and an unscented Kalman filter (UKF) for analytical redundancy is proposed. Our novel fusi

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS research still predominantly focuses on 3D point clouds from mechanically spinning omnidirectional LiDAR sensors. Thus, we are, for example, lacking a dataset with MOS labels for point clouds from solid-state LiDAR sensors which have irregular scanning patter

While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theoretic pruning, or pose solvers. In this paper, we take a holistic view on the registration problem and develop an open-source and versatile C++ library for point cloud registration, called KISS-Matcher. KISS-Matcher combines a novel feature detector, Faster-PFH, that improves over the classical fast point feature histogr

Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower beds, and so forth. To tackle the problem, this paper presents a novel ground segmentation method called \textit{Patchwork}, which is robust for addressing the under-segmentation problem and operates at more than 40 Hz. In this paper, a point cloud is encoded into

In recent years, the demand for mapping construction sites or buildings using light detection and ranging~(LiDAR) sensors has been increased to model environments for efficient site management. However, it is observed that sometimes LiDAR-based approaches diverge in narrow and confined environments, such as spiral stairs and corridors, caused by fixed parameters regardless of the changes in the environments. That is, the parameters of LiDAR (-inertial) odometry are mostly set for open space; thu