3 papers
cs.RO2026
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-…
cs.RO2025
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…
cs.RO2024
Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots
Lucia Coto Elena, Fernando Caballero, Luis Merino
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar a…