7 papers
Heterogeneous LiDAR Early Fusion and Learned Re-Ranking Strategy for Robust Long-Term Place Recognition in Unstructured Environments
Judith Vilella-Cantos, Juan José Cabrera, Mónica Ballesta +2
Robust localization in unstructured environments, such as agricultural fields, is a critical challenge for autonomous systems. LiDAR sensors provide detailed 3D information about t…
Low Cost, High Efficiency: LiDAR Place Recognition in Vineyards with Matryoshka Representation Learning
Judith Vilella-Cantos, Mauro Martini, Marcello Chiaberge +2
Localization in agricultural environments is challenging due to their unstructured nature and lack of distinctive landmarks. Although agricultural settings have been studied in the…
Advanced techniques and applications of LiDAR Place Recognition in Agricultural Environments: A Comprehensive Survey
Judith Vilella-Cantos, Mónica Ballesta, David Valiente +2
An optimal solution to the localization problem is essential for developing autonomous robotic systems. Apart from autonomous vehicles, precision agriculture is one of the elds tha…
TE-NeXt: A LiDAR-Based 3D Sparse Convolutional Network for Traversability Estimation
Antonio Santo, Juan J. Cabrera, David Valiente +2
This paper presents TE-NeXt, a novel and efficient architecture for Traversability Estimation (TE) from sparse LiDAR point clouds based on a residual convolution block. TE-NeXt blo…
A Coarse to Fine 3D LiDAR Localization with Deep Local Features for Long Term Robot Navigation in Large Environments
MÃriam Máximo, Antonio Santo, Arturo Gil +2
The location of a robot is a key aspect in the field of mobile robotics. This problem is particularly complex when the initial pose of the robot is unknown. In order to find a solu…
MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity
Judith Vilella-Cantos, Juan José Cabrera, Luis Payá +2
In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate…