4 papers
DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers
Lanke Frank Tarimo Fu, Maurice Fallon
We present DRS-VPT, a feed-forward transformer architecture for foundational image-to-scan registration. Given query images and a reference 3D point cloud, the model predicts the s…
ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon +1
LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognitio…
Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu +8
Achieving robust autonomy in mobile robots operating in complex and unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary info…
IMU-based Online Multi-lidar Calibration
Sandipan Das, Bengt Boberg, Maurice Fallon +1
Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose…