17 citations · 40 across the 16 of their papers we have counts for
3 papers · 1 filter
Online Geometric Change Detection via Scene Decomposition
David Thorne, Samuel Jia Cong Chua, Nakul Joshi +4
Autonomous robots are increasingly deployed on long duration single- and multi-session missions in dynamic environments, where the ability to identify environmental changes such as…
PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM
Yanlong Ma, Nakul S. Joshi, Christa S. Robison +2
Loop closure is essential to reduce drift and build globally consistent maps in large-scale environments. However, reliable loop closure with only geometric information from, e.g.,…
Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges
Shaunak Kolhe, Peng Jiang, Maggie Wigness +4
Radar offers unique advantages for localization in unstructured environments, including robustness to weather, lighting, and airborne particulates. While most prior work has studie…