2 papers
cs.RO2026
EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
Rowan Border, Margarita Chli
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate auton…
cs.CV2025
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks
Liudi Yang, Ruben Mascaro, Ignacio Alzugaray +4
In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use sem…