15 citations · 64 across the 13 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…
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…