3 papers
cs.RO2025
Loop Closure from Two Views: Revisiting PGO for Scalable Trajectory Estimation through Monocular Priors
Tian Yi Lim, Boyang Sun, Marc Pollefeys +1
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditiona…
cs.RO2024
ForzaETH Race Stack -- Scaled Autonomous Head-to-Head Racing on Fully Commercial off-the-Shelf Hardware
Nicolas Baumann, Edoardo Ghignone, Jonas Kühne +11
Autonomous racing in robotics combines high-speed dynamics with the necessity for reliability and real-time decision-making. While such racing pushes software and hardware to their…
cs.RO2024
Robustness Evaluation of Localization Techniques for Autonomous Racing
Tian Yi Lim, Edoardo Ghignone, Nicolas Baumann +1
This work introduces SynPF, an MCL-based algorithm tailored for high-speed racing environments. Benchmarked against Cartographer, a state-of-the-art pose-graph SLAM algorithm, SynP…