LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

1 July 2020

Daniela Rus

Papers citing "LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping"

50 / 134 papers shown

Title
Real-Time Spatial Reasoning by Mobile Robots for Reconstruction and Navigation in Dynamic LiDAR Scenes Pengdi Huang Mingyang Wang Huan Tian Minglun Gong Han Zhang Hui Huang 2 0 0 18 May 2025
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping Lijie Wang Xiaoyi Zhong Ziyi Xu Kaixin Chai Anke Zhao Tianyu Zhao Qianhao Wang Fei Gao 26 0 0 15 May 2025
APR-Transformer: Initial Pose Estimation for Localization in Complex Environments through Absolute Pose Regression Srinivas Ravuri Yuan Xu Martin Ludwig Zehetner Ketan Motlag Sahin Albayrak 16 0 0 14 May 2025
Do We Still Need to Work on Odometry for Autonomous Driving? Cedric Le Gentil Daniil Lisus T. Barfoot 43 0 0 07 May 2025
LiDAR-Inertial SLAM-Based Navigation and Safety-Oriented AI-Driven Control System for Skid-Steer Robots Mehdi Heydari Shahna Eemil Haaparanta Pauli Mustalahti J. Mattila 37 0 0 05 May 2025
InterLoc: LiDAR-based Intersection Localization using Road Segmentation with Automated Evaluation Method Nguyen Hoang Khoi Tran J. S. Berrio Mao Shan Zhenxing Ming Stewart Worrall 38 0 0 01 May 2025
LPVIMO-SAM: Tightly-coupled LiDAR/Polarization Vision/Inertial/Magnetometer/Optical Flow Odometry via Smoothing and Mapping Derui Shan Peng Guo Wenshuo Li Du Tao 32 0 0 29 Apr 2025
Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation Tixiao Shan Abhinav Rajvanshi Niluthpol Chowdhury Mithun Han-Pang Chiu 3DPC 34 0 0 23 Apr 2025
SR-LIO++: Efficient LiDAR-Inertial Odometry and Quantized Mapping with Sweep Reconstruction Zikang Yuan Ruiye Ming Chengwei Zhao Yonghao Tan Pingcheng Dong H. Luo Yuzhong Jiao Xin-She Yang Kwang-Ting Cheng 32 0 0 29 Mar 2025
MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments Yongxin Ma Jie Xu Shenghai Yuan Tian Zhi Wenlu Yu Jun Zhou Lihua Xie 55 4 0 25 Mar 2025
HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Tracking Jing Yang Sen Yang Xiao Tan Hanli Wang 56 1 0 13 Mar 2025
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition Nikolaos Stathoulopoulos Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 83 1 0 20 Feb 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 63 3 0 17 Feb 2025
Dual-BEV Nav: Dual-layer BEV-based Heuristic Path Planning for Robotic Navigation in Unstructured Outdoor Environments J. Zhang Hanlin Dong Jian Yang Jing Liu Shibo Huang Ke Li Xuan Tang Xian Wei Xiong You 82 1 0 30 Jan 2025
Performance Assessment of Lidar Odometry Frameworks: A Case Study at the Australian Botanic Garden Mount Annan Mohamed Mourad Ouazghire J. S. Berrio Mao Shan Stewart Worrall 81 0 0 28 Jan 2025
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps Saurabh Gupta Tiziano Guadagnino Benedikt Mersch Niklas Trekel Meher V. R. Malladi Cyrill Stachniss 44 1 0 13 Jan 2025
LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments Haosong Yue Qingyuan Xu Fei Chen Jia Pan Weihai Chen 3DPC 42 0 0 10 Jan 2025
ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle Yinchuan Wang Bin Ren Xiang Zhang Pengyu Wang Chaoqun Wang Rui Song Yibin Li Max Q.-H. Meng 49 2 0 04 Jan 2025
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks Shibo Zhao Honghao Zhu Yuanjun Gao Beomsoo Kim Yuheng Qiu Aaron M. Johnson Sebastian A. Scherer 72 1 0 03 Dec 2024
Continuous-Time State Estimation Methods in Robotics: A Survey William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas T. Barfoot Marco Hutter 67 8 0 06 Nov 2024
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 45 1 0 31 Oct 2024
ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras Junkai Niu Sheng Zhong Xiuyuan Lu Shaojie Shen Guillermo Gallego Yi Zhou 58 9 0 12 Oct 2024
Submodular Optimization for Keyframe Selection & Usage in SLAM David Thorne Nathan Chan Yanlong Ma Christa S. Robison Philip R. Osteen Brett T. Lopez 26 0 0 08 Oct 2024
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions A. Datar Anuj Pokhrel Mohammad Nazeri Madhan B. Rao Chenhui Pan ... Andre Harrison Maggie B. Wigness Philip R. Osteen Jinwei Ye Xuesu Xiao 44 0 0 01 Oct 2024
ERPoT: Effective and Reliable Pose Tracking for Mobile Robots Using Lightweight Polygon Maps Haiming Gao Qibo Qiu Hongyan Liu Dingkun Liang Chaoqun Wang Xuebo Zhang 175 0 0 23 Sep 2024
GND: Global Navigation Dataset with Multi-Modal Perception and Multi-Category Traversability in Outdoor Campus Environments Jing Liang Dibyendu Das Daeun Song Md Nahid Hasan Shuvo Mohammad Durrani Karthik Taranath Ivan Penskiy Dinesh Manocha Xuesu Xiao 3DV 77 1 0 21 Sep 2024
Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry Anbo Tao Yarong Luo Chunxi Xia Chi Guo Xingxing Li 37 1 0 11 Sep 2024
Driving with Prior Maps: Unified Vector Prior Encoding for Autonomous Vehicle Mapping Shuang Zeng Xinyuan Chang Xinran Liu Zheng Pan Xing Wei 42 1 0 09 Sep 2024
From Underground Mines to Offices: A Versatile and Robust Framework for Range-Inertial SLAM Lorenzo Montano-Oliván Julio A. Placed Luis Montano María T. Lázaro 25 1 0 20 Jul 2024
Fusion LiDAR-Inertial-Encoder data for High-Accuracy SLAM Manh Do Duc Thanh Nguyen Canh Minh DoNgoc Xiem HoangVan 48 0 0 16 Jul 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 42 8 0 14 Jul 2024
Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization Taku Okawara Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno Kentaro Uno Kazuya Yoshida 51 0 0 12 Jul 2024
ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets Bowen Xu Xiting Zhao Delin Feng Yuanyuan Yang Sören Schwertfeger 19 5 0 24 Jun 2024
IFTD: Image Feature Triangle Descriptor for Loop Detection in Driving Scenes Fengtian Lang Ruiye Ming Zikang Yuan Xin Yang 30 0 0 12 Jun 2024
Salience-guided Ground Factor for Robust Localization of Delivery Robots in Complex Urban Environments Jooyong Park Jungwoo Lee Euncheol Choi Younggun Cho 29 0 0 20 May 2024
Block-Map-Based Localization in Large-Scale Environment Yixiao Feng Zhou Jiang Yongliang Shi Yunlong Feng Xiangyu Chen Hao Zhao Guyue Zhou 36 5 0 28 Apr 2024
Design of Stickbug: a Six-Armed Precision Pollination Robot Trevor R. Smith Madhav Rijal Christopher Tatsch R. Butts Jared Beard R. T. Cook Andy Chu Jason N. Gross Yu Gu 20 6 0 04 Apr 2024
Localization and Offline Mapping of High-Voltage Substations in Rough Terrain Using a Ground Vehicle Ioannis Alamanos G. Moustris C. Tzafestas 20 0 0 28 Mar 2024
DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization D. Skuddis Norbert Haala 37 0 0 29 Feb 2024
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency Yue Pan Xingguang Zhong Louis Wiesmann Thorbjörn Posewsky Jens Behley C. Stachniss 3DPC 3DV 39 33 0 17 Jan 2024
Autonomous Navigation in Complex Environments Andrew Gerstenslager Jomol Lewis Liam McKenna Poorva Patel 26 1 0 06 Jan 2024
PosDiffNet: Positional Neural Diffusion for Point Cloud Registration in a Large Field of View with Perturbations Rui She Sijie Wang Qiyu Kang Kai Zhao Yang Song Wee Peng Tay Tianyu Geng Xingchao Jian DiffM 3DPC 41 2 0 06 Jan 2024
Radarize: Enhancing Radar SLAM with Generalizable Doppler-Based Odometry E.M.S.L. Sie Xinyu Wu Heyu Guo Deepak Vasisht 19 5 0 19 Nov 2023
ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty Joey Wilson Yuewei Fu Joshua Friesen Parker Ewen Andrew Capodieci P. Jayakumar Kira Barton Maani Ghaffari 32 9 0 24 Oct 2023
Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty Reiya Takemura Genya Ishigami 20 1 0 25 Sep 2023
NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mapping Jun Zhang Huayang Zhuge Yiyao Liu Guohao Peng Zhenyu Wu ... Sanat Mharolkar Xun Yang Su Yi Yuanzhe Wang Dan-fen Wang 32 26 0 02 Sep 2023
PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction Wenjie Ding Limeng Qiao Xi Qiu Chi Zhang 3DPC 39 67 0 31 Aug 2023
Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Construction Wenjie Gao Jiawei Fu Yanqing Shen Haodong Jing Shitao Chen Nanning Zheng 35 15 0 29 Aug 2023
Multi-object Detection, Tracking and Prediction in Rugged Dynamic Environments Shixing Huang Zhihao Wang Ju Ouyang Haoyao Chen 3DPC 21 2 0 23 Aug 2023
Four years of multi-modal odometry and mapping on the rail vehicles Yusheng Wang Weiwei Song Yi Zhang Fei Huang Zhiyong Tu Ruoying Li Shimin Zhang Y. Lou 19 3 0 22 Aug 2023