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cs.RO2025
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…
cs.RO2023
CaLib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
Emanuele Giacomini, Leonardo Brizi, Luca Di Giammarino +3
In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this conte…
cs.RO2023
Enhancing LiDAR performance: Robust De-skewing Exclusively Relying on Range Measurements
Omar Salem, Emanuele Giacomini, Leonardo Brizi +2
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along direction…