8 papers
InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization
Nikolaos Stathoulopoulos, George Nikolakopoulos
LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic platforms increasingly combine LiDARs with different fields of view, resol…
Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing…
A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. Howe…
Real-time Point Cloud Data Transmission via L4S for 5G-Edge-Assisted Robotics
Gerasimos Damigos, Achilleas Santi Seisa, Nikolaos Stathoulopoulos +2
This article presents a novel framework for real-time Light Detection and Ranging (LiDAR) data transmission that leverages rate-adaptive technologies and point cloud encoding metho…
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition
Nikolaos Stathoulopoulos, Vidya Sumathy, Christoforos Kanellakis +1
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimati…
Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel +2
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The…