93 citations · 153 across the 9 of their papers we have counts for
10 papers
Multi-robot LiDAR SLAM: a practical case study in underground tunnel environments
Federica Di Lauro, Domenico G. Sorrenti, Miguel Angel Sotelo
Multi-robot SLAM aims at localizing and building a map with multiple robots, interacting with each other. In the work described in this article, we analyze the pipeline of a decent…
Uncertainty-Aware DNN for Multi-Modal Camera Localization
Matteo Vaghi, Augusto Luis Ballardini, Simone Fontana +1
Camera localization, i.e., camera pose regression, represents an important task in computer vision since it has many practical applications such as in the context of intelligent ve…
A Termination Criterion for Probabilistic PointClouds Registration
Simone Fontana, Domenico G. Sorrenti
Probabilistic Point Clouds Registration (PPCR) is an algorithm that, in its multi-iteration version, outperformed state of the art algorithms for local point clouds registration. H…
CMRNet++: Map and Camera Agnostic Monocular Visual Localization in LiDAR Maps
Daniele Cattaneo, Domenico Giorgio Sorrenti, Abhinav Valada
Localization is a critically essential and crucial enabler of autonomous robots. While deep learning has made significant strides in many computer vision tasks, it is still yet to…
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…
Global visual localization in LiDAR-maps through shared 2D-3D embedding space
Daniele Cattaneo, Matteo Vaghi, Simone Fontana +2
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonom…
CMRNet: Camera to LiDAR-Map Registration
Daniele Cattaneo, Matteo Vaghi, Augusto Luis Ballardini +3
In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not…
A dataset for benchmarking vision-based localization at intersections
Augusto L. Ballardini, Daniele Cattaneo, Domenico G. Sorrenti
In this report we present the work performed in order to build a dataset for benchmarking vision-based localization at intersections, i.e., a set of stereo video sequences taken fr…
ira_laser_tools: a ROS LaserScan manipulation toolbox
Augusto Luis Ballardini, Simone Fontana, Axel Furlan +1
Laser scanners are sensors of widespread use in robotic applications. Under the Robot Operating System (ROS) the information generated by laser scanners can be conveyed by either L…