4 papers
4D Radar Gaussian Modeling and Scan Matching with RCS
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provid…
G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
José E. Maese, Lucía Coto-Elena, Luis Merino +1
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-…
Exploiting Euclidean Distance Field Properties for Fast and Safe 3D planning with a modified Lazy Theta*
Jose A. Cobano, L. Merino, F. Caballero
This paper presents the FS-Planner, a fast graph-search planner based on a modified Lazy Theta* algorithm that exploits the analytical properties of Euclidean Distance Fields (EDFs…
D-LIO: 6DoF Direct LiDAR-Inertial Odometry based on Simultaneous Truncated Distance Field Mapping
Lucia Coto-Elena, J. E. Maese, L. Merino +1
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representa…