15 citations · 64 across the 13 of their papers we have counts for
13 papers
InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization
Nikolaos Stathoulopoulos, George Nikolakopoulos
LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic platforms increasingly combine LiDARs with different fields of view, resol…
Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing…
Real-time Point Cloud Data Transmission via L4S for 5G-Edge-Assisted Robotics
Gerasimos Damigos, Achilleas Santi Seisa, Nikolaos Stathoulopoulos +2
This article presents a novel framework for real-time Light Detection and Ranging (LiDAR) data transmission that leverages rate-adaptive technologies and point cloud encoding metho…
A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. Howe…
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition
Nikolaos Stathoulopoulos, Vidya Sumathy, Christoforos Kanellakis +1
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimati…
Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel +2
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The…
BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detection and Localization
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Vidya Sumathy +2
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for…
FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field
Nikolaos Stathoulopoulos, Björn Lindqvist, Anton Koval +2
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approa…
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction
Nikolaos Stathoulopoulos, Mario A. V. Saucedo, Anton Koval +1
In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrentl…
Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics
Nikolaos Stathoulopoulos, Emanuele Pagliari, Luca Davoli +1
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a p…
Irregular Change Detection in Sparse Bi-Temporal Point Clouds using Learned Place Recognition Descriptors and Point-to-Voxel Comparison
Nikolaos Stathoulopoulos, Anton Koval, George Nikolakopoulos
Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existi…
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration
Alexander Kyuroson, Niklas Dahlquist, Nikolaos Stathoulopoulos +3
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly in…
FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration
Nikolaos Stathoulopoulos, Anton Koval, Ali-akbar Agha-mohammadi +1
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of…