4 papers · 1 filter
Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection
Han Wang, Chen Wang, Lihua Xie
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor…
TartanAir: A Dataset to Push the Limits of Visual SLAM
Wenshan Wang, Delong Zhu, Xiangwei Wang +6
We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving o…
Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators
Chen Wang, Tete Ji, Thien-Minh Nguyen +1
Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentio…
Graph Optimization Approach to Range-based Localization
Xu Fang, Chen Wang, Thien-Minh Nguyen +1
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time interva…