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cs.RO2025
LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments
Haosong Yue, Qingyuan Xu, Fei Chen +2
The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments…
cs.RO2022
Center-of-Mass-based Robust Grasp Pose Adaptation Using RGBD Camera and Force/Torque Sensing
Shang Liu, Xiaobao Wei, Lulu Wang +3
Object dropping may occur when the robotic arm grasps objects with uneven mass distribution due to additional moments generated by objects' gravity. To solve this problem, we prese…