20 citations · 42 across the 14 of their papers we have counts for
4 papers · 1 filter
2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields
Cedric Le Gentil, Raphael Falque, Daniil Lisus +1
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistort…
The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
Elliot Preston-Krebs, Daniil Lisus, Timothy D. Barfoot
A key element of many odometry pipelines using spinning frequency-modulated continuous-wave (FMCW) radar is the extraction of a point-cloud from the raw signal. This extraction gre…
Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?
Daniil Lisus, Keenan Burnett, David J. Yoon +3
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automot…
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
Ziyu Zhang, Johann Laconte, Daniil Lisus +1
This paper presents a novel method for assessing the resilience of the ICP algorithm via learning-based, worst-case attacks on lidar point clouds. For safety-critical applications…