38 citations · 39 across the 6 of their papers we have counts for
6 papers
When and Where Localization Fails: An Analysis of the Iterative Closest Point in Evolving Environment
Abdel-Raouf Dannaoui, Johann Laconte, Christophe Debain +2
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, shor…
Toward Teach and Repeat Across Seasonal Deep Snow Accumulation
Matěj Boxan, Alexander Krawciw, Timothy D. Barfoot +1
Teach and repeat is a rapid way to achieve autonomy in challenging terrain and off-road environments. A human operator pilots the vehicles to create a network of paths that are map…
Under Pressure: Altimeter-Aided ICP for 3D Maps Consistency
William Dubois, Nicolas Samson, Effie Daum +2
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is…
3D Mapping of Glacier Moulins: Challenges and lessons learned
William Dubois, Matěj Boxan, Johann Laconte +1
In this paper, we present a field report of the mapping of the Athabasca Glacier, using a custom-made lidar-inertial mapping platform. With the increasing autonomy of robotics, a w…
FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in Forêt Montmorency
Matěj Boxan, Alexander Krawciw, Effie Daum +4
In this paper, we propose the FoMo (Forêt Montmorency) dataset: a comprehensive, multi-season data collection. Located in the Montmorency Forest, Quebec, Canada, our dataset will c…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…