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Heterogeneous Map Merging: State of the Art

2019 Robotics  
This research reviews the state of the art in homogeneous and heterogeneous mapmerging and illustrates the main research challenges in the area.  ...  However,the environment modeling with several robotic systems operating in the same area causes problemsof higher-order—acquired knowledge fusion and synchronization over time, revealing the sameenvironment  ...  [96] The LIDAR constructed prior map is used as a reference map for low quality vision based mapping improvement. 3D PC/Grid -Known Hybrid Different LIDAR [79] The method merges 2D occupancy grid  ... 
doi:10.3390/robotics8030074 fatcat:ihjxmwgozvfq7kizwm67u5xseq

UWB/LiDAR Fusion For Cooperative Range-Only SLAM [article]

Yang Song, Mingyang Guan, Wee Peng Tay, Choi Look Law, Changyun Wen
2018 arXiv   pre-print
measurements may remove the error accumulated in the LiDAR-based SLAM algorithm.  ...  Our experiments demonstrate that UWB/LiDAR fusion enables drift-free SLAM in real-time based on ranging measurements only.  ...  HectorSLAM proposes a fast online learning of occupancy grid maps using a fast approximation of map gradients and a multi-resolution grid.  ... 
arXiv:1811.02854v1 fatcat:cbsubz7xpnec7cnshhzp2f5b7e


G. J. Tsai, K. W. Chiang, N. El-Sheimy
2019 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The first contribution is using the INS/GNSS to provide the short-term relative position information for the mapping process when the LiDAR odometry process is failed.  ...  In this research, the new structure is proposed to integrate the INS/GNSS into LiDAR Odometry and Mapping (LOAM) algorithm and enhance the mapping performance.  ...  ACKNOWLEDGEMENTS The authors would like to thank the GEOSAT Aerospace & Technology Inc. for its assistance in developing the land-vehicle.  ... 
doi:10.5194/isprs-archives-xlii-2-w16-251-2019 fatcat:mtbtakiwwra4lnurlmgn5jlzl4

Indoor Localization Algorithms for an Ambulatory Human Operated 3D Mobile Mapping System

Nicholas Corso, Avideh Zakhor
2013 Remote Sensing  
There are three novel contributions in our proposed mapping approach. First, we present an algorithm which automatically detects loop closure constraints from an occupancy grid map.  ...  In doing so, we ensure that constraints are detected only in locations that are well conditioned for scan matching.  ...  Acknowledgments The authors would like to thank ARPA-E for supporting this research. Conflict of Interest The authors declare no conflict on interest.  ... 
doi:10.3390/rs5126611 fatcat:ggwwe5v7mrb4bbk7rlnbpcgdq4

Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey

2015 Sadhana (Bangalore)  
SLAM algorithms for both static and dynamic environments have been surveyed. The algorithms in each class are further divided based on the techniques used.  ...  This paper presents a survey of Simultaneous Localization And Mapping (SLAM) algorithms for unmanned ground robots.  ...  It has been extensively used for generating occupancy grid maps for medium size environments.  ... 
doi:10.1007/s12046-015-0402-6 fatcat:33hu7lxwsja2fdjepsdxjczd54

Awareness of Road Scene Participants for Autonomous Driving [chapter]

Anna Petrovskaya, Mathias Perrollaz, Luciano Oliveira, Luciano Spinello, Rudolph Triebel, Alexandros Makris, John-David Yoder, Christian Laugier, Urbano Nunes, Pierre Bessiere
2012 Handbook of Intelligent Vehicles  
This approach utilizes geometric object models and relies on non-parametric filters for inference. Finally, the third class is the grid based approach, which starts by constructing a low level grid  ...  DATMO provides awareness of road scene participants, which is important in order to make safe driving decisions and abide by the rules of the road.  ...  Grid mapping from sensor data Occupancy grids are generally computed from the data provided by range finders.  ... 
doi:10.1007/978-0-85729-085-4_54 fatcat:lrnbnr4q5vbzrd3pausguhbhom

Perception, Planning, Control, and Coordination for Autonomous Vehicles

Scott Pendleton, Hans Andersen, Xinxin Du, Xiaotong Shen, Malika Meghjani, You Eng, Daniela Rus, Marcelo Ang
2017 Machines  
The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems.  ...  Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road  ...  In [65] , VoxNet was proposed, which implemented a 3D convolutional neural network to classify the 3D point cloud (in occupancy grid/volumetric representation).  ... 
doi:10.3390/machines5010006 fatcat:24h5nl5quve6fpt2wtdyf4qafe

Bayesian environment representation, prediction, and criticality assessment for driver assistance systems

Matthias Schreier
2017 at - Automatisierungstechnik  
They are obtained by a novel method for grid mapping and tracking in dynamic environments.  ...  for criticality assessment.  ...  The DBN visualization of the different inference tasks of occupancy grid mapping and SLAM are contrasted in Figure 3 .11.  ... 
doi:10.1515/auto-2016-0129 fatcat:3ekhvcltd5bsnfrrcrx7s5twoi

Enhancing the Accuracy and Robustness of LiDAR Based Simultaneous Localisation and Mapping

Robustness in environmental mapping is an important aspect of a computer vision system, but it is not emphasised by the current development of the technology in general.  ...  probability repres entati on for cells in a occupancy grid map .  ...  Point cloud map As described in Section, a 2D SLAM mainly uses an occupancy grid as the map representation method. However, a grid map is not applicable for a high-density map representation.  ... 
doi:10.26180/14789871.v1 fatcat:izhvjw53irfthbojget76g6n3a

Vector Map-Based, Non-Markov Localization for Long-Term Deployment of Autonomous Mobile Robots

Joydeep Biswas
We address both these challenges by introducing Corrective Gradient Refinement (CGR), which, instead of relying on more particles, does more with fewer particles.  ...  In particular, it uses the analytically computed state space derivatives of the observation likelihood function to refine the proposal distribution, thus improving the accuracy as well as robustness while  ...  ), RBPFs with dynamic occupancy grids [89] (RBPF), and episodic non-Markov localization (EnML).  ... 
doi:10.1184/r1/6724220.v1 fatcat:ajusmjivbfa67awzmntgnqd34u

Multimodal Spatiotemporal Collaborative Positioning Framework for Indoor Environments [article]

Mostafa Sakr, University Of Calgary, Naser El-Sheimy
The collaboration between different nodes is examined in detail, and a new family of distributed particle filters for collaborative positioning applications are introduced.  ...  The collaboration model used in the proposed framework is based on the relative range measurements.  ...  The authors use a particle filter framework for online estimation of the mobile node position, against an occupancy grid map.  ... 
doi:10.11575/prism/36739 fatcat:ljwiw5nma5ddtoiuzsshpbs6fi