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COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
Patrick Pfreundschuh, Helen Oleynikova, Cesar Cadena +2
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is…
Path-Constrained State Estimation for Rail Vehicles
Cornelius von Einem, Andrei Cramariuc, Roland Siegwart +2
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency p…
Local and Global Information in Obstacle Detection on Railway Tracks
Matthias Brucker, Andrei Cramariuc, Cornelius von Einem +2
Reliable obstacle detection on railways could help prevent collisions that result in injuries and potentially damage or derail the train. Unfortunately, generic object detectors do…
Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Victor Reijgwart, Cesar Cadena, Roland Siegwart +1
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping tec…
Fast Traversability Estimation for Wild Visual Navigation
Jonas Frey, Matias Mattamala, Nived Chebrolu +3
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning
Anqiao Li, Chenyu Yang, Jonas Frey +3
Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based…