3 papers
cs.RO2025
PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps
Kirill Muravyev, Artem Kobozev, Vasily Yuryev +4
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matchin…
cs.RO2025
PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matching
Kirill Muravyev, Alexander Melekhin, Dmitry Yudin +1
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy gr…
cs.RO2024
NavTopo: Leveraging Topological Maps For Autonomous Navigation Of a Mobile Robot
Kirill Muravyev, Konstantin Yakovlev
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build…