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- Centre National de la Recherche ScientifiqueFR44 papers
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8 papers · 1 filter
C-3TO: Continuous 3D Trajectory Optimization on Neural Euclidean Signed Distance Fields
Guillermo Gil, Jose Antonio Cobano, Luis Merino +1
This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unli…
Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System
Simón Martínez-Rozas, David Alejo, José Javier Carpio +2
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach ar…
D-LIO: 6DoF Direct LiDAR-Inertial Odometry based on Simultaneous Truncated Distance Field Mapping
Lucia Coto-Elena, J. E. Maese, L. Merino +1
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representa…
4D Radar-Inertial Odometry based on Gaussian Modeling and Multi-Hypothesis Scan Matching
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odomet…
Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots
Lucia Coto Elena, Fernando Caballero, Luis Merino
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar a…
FROG: A new people detection dataset for knee-high 2D range finders
Fernando Amodeo, Noé Pérez-Higueras, Luis Merino +1
Mobile robots require knowledge of the environment, especially of humans located in its vicinity. While the most common approaches for detecting humans involve computer vision, an…