3 papers
cs.RO2025
PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps
Kirill Muravyev, Artem Kobozev, Vasily Yuryev +4
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matchin…
cs.CV2024
MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semantics
Alexander Melekhin, Dmitry Yudin, Ilia Petryashin +1
Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progr…
cs.RO2024
PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matching
Kirill Muravyev, Alexander Melekhin, Dmitry Yudin +1
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy gr…