4 papers
Visual Place Recognition using LiDAR Intensity Information
Luca Di Giammarino, Irvin Aloise, Cyrill Stachniss +1
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of ro…
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Mirco Colosi, Irvin Aloise, Tiziano Guadagnino +4
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to…
Least Squares Optimization: from Theory to Practice
Giorgio Grisetti, Tiziano Guadagnino, Irvin Aloise +3
Nowadays, Non-Linear Least-Squares embodies the foundation of many Robotics and Computer Vision systems. The research community deeply investigated this topic in the last years, an…
Matrix Difference in Pose-Graph Optimization
Irvin Aloise, Giorgio Grisetti
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both…