93 citations · 295 across the 16 of their papers we have counts for
7 papers · 1 filter
RaLF: Flow-based Global and Metric Radar Localization in LiDAR Maps
Abhijeet Nayak, Daniele Cattaneo, Abhinav Valada
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather c…
CoVIO: Online Continual Learning for Visual-Inertial Odometry
Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard +1
Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains…
PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention
José Arce, Niclas Vödisch, Daniele Cattaneo +2
A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based met…
Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping Through Continual Learning
Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard +1
Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous L…
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM
Daniele Cattaneo, Matteo Vaghi, Abhinav Valada
Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several dee…
A Benchmark for Point Clouds Registration Algorithms
Simone Fontana, Daniele Cattaneo, Augusto Luis Ballardini +2
Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with…
Vehicle Ego-Lane Estimation with Sensor Failure Modeling
Augusto Luis Ballardini, Daniele Cattaneo, Rubén Izquierdo +4
We present a probabilistic ego-lane estimation algorithm for highway-like scenarios that is designed to increase the accuracy of the ego-lane estimate, which can be obtained relyin…