178 citations · 404 across the 19 of their papers we have counts for
22 papers
KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities
Tiziano Guadagnino, Benedikt Mersch, Saurabh Gupta +3
Robust and accurate localization and mapping of an environment using laser scanners, so-called LiDAR SLAM, is essential to many robotic applications. Early 3D LiDAR SLAM methods of…
How-to Augmented Lagrangian on Factor Graphs
Barbara Bazzana, Henrik Andreasson, Giorgio Grisetti
Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (S…
Photometric LiDAR and RGB-D Bundle Adjustment
Luca Di Giammarino, Emanuele Giacomini, Leonardo Brizi +2
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard i…
On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics
Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino +4
Agricultural robots have the prospect to enable more efficient and sustainable agricultural production of food, feed, and fiber. Perception of crops and weeds is a central componen…
Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) a…
HiPE: Hierarchical Initialization for Pose Graphs
Tiziano Guadagnino, Luca Di Giammarino, Giorgio Grisetti
Pose graph optimization is a non-convex optimization problem encountered in many areas of robotics perception. Its convergence to an accurate solution is conditioned by two factors…