3 papers
cs.RO2026
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registrat…
cs.RO2025
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
Turcan Tuna, Julian Nubert, Patrick Pfreundschuh +3
The ICP registration algorithm has been a preferred method for LiDAR-based robot localization for nearly a decade. However, even in modern SLAM solutions, ICP can degrade and becom…
cs.RO2025
Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024
Patrick Pfreundschuh, Giovanni Cioffi, Cornelius von Einem +6
Visually impaired individuals face significant challenges navigating and interacting with unknown situations, particularly in tasks requiring spatial awareness and semantic scene u…