4 papers
ActLoc: Learning to Localize on the Move via Active Viewpoint Selection
Jiajie Li, Boyang Sun, Luca Di Giammarino +2
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice,…
Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping
Emanuele Giacomini, Luca Di Giammarino, Lorenzo De Rebotti +2
LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight…
MD-SLAM: Multi-cue Direct SLAM
Luca Di Giammarino, Leonardo Brizi, Tiziano Guadagnino +2
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily de…
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…