LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time

28 December 2020

C. Kanellakis

A. Agha-mohammadi

Papers citing "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time"

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Title
II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping Chengwei Zhao Y. Li Yina Jian Jie Xu Linji Wang Yongxin Ma Xinglai Jin 27 1 0 11 Apr 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
High Definition Map Mapping and Update: A General Overview and Future Directions Benny Wijaya Kun Jiang Mengmeng Yang Tuopu Wen Yunlong Wang Xuewei Tang Zheng Fu Taohua Zhou Diange Yang 44 0 0 15 Sep 2024
SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps Timothy Chen Aiden Swann Javier Yu O. Shorinwa Riku Murai Monroe Kennedy III Mac Schwager 3DGS 37 2 0 15 Sep 2024
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 33 2 0 13 Sep 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
FRAME: A Modular Framework for Autonomous Map-merging: Advancements in the Field Nikolaos Stathoulopoulos B. Lindqvist A. Koval Ali-akbar Agha-mohammadi G. Nikolakopoulos 3DPC 32 5 0 27 Apr 2024
Multiway Point Cloud Mosaicking with Diffusion and Global Optimization Shengze Jin Iro Armeni Marc Pollefeys Dániel Baráth 38 7 0 30 Mar 2024
RGBD GS-ICP SLAM Seongbo Ha Jiung Yeon Hyeonwoo Yu 3DGS 32 23 0 19 Mar 2024
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments Zhiqiang Chen Hongbo Chen Yuhua Qi Shipeng Zhong Dapeng Feng Wu Jin Weisong Wen Ming-Yu Liu 41 3 0 29 Feb 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 38 9 0 14 Feb 2024
Aerial Field Robotics M. Kulkarni Brady G. Moon Kostas Alexis Sebastian A. Scherer 37 2 0 19 Jan 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 46 43 0 29 Dec 2023
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions Simon-Pierre Deschênes Dominic Baril Matej Boxan Johann Laconte Philippe Giguère François Pomerleau 21 1 0 11 Oct 2023
LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation Kai-Yung Huang Junqiao Zhao Zhongyan Zhu Chen Ye T. Feng 8 9 0 18 Jul 2023
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation M. Jung Sangwoo Jung Ayoung Kim 25 16 0 26 May 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 24 4 0 03 May 2023
Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments L. Schmid Olov Andersson Aurelio Sulser Patrick Pfreundschuh Roland Siegwart 26 38 0 20 Apr 2023
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments Mario A. V. Saucedo Akash Patel Rucha Sawlekar Akshit Saradagi Christoforos Kanellakis Ali-Akbar Agha-Mohammadi G. Nikolakopoulos 23 6 0 18 Apr 2023
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity David J. Yoon Keenan Burnett Johann Laconte Yi Chen Heethesh Vhavle S. Kammel J. Reuther Timothy D. Barfoot 19 9 0 11 Mar 2023
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles Pavel Petráček Vít Krátký Matěj Petrlík Tomáš Báča R. Kratochvíl Martin Saska 33 59 0 06 Mar 2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge Anushri Dixit David D. Fan K. Otsu S. Dey Ali-Akbar Agha-Mohammadi J. W. Burdick 32 75 0 02 Mar 2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge N. Kottege Jason L. Williams Brendan Tidd Fletcher Talbot Ryan Steindl ... J. Manderson Corey Medek M. O'Brien Shengkang Chen R. Arkin 41 9 0 26 Feb 2023
Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM Jiajun Lv Xiaolei Lang Jinhong Xu Mengmeng Wang Yong-jin Liu Xingxing Zuo 18 22 0 15 Feb 2023
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry Fuzhang Han Han Zheng Wenjun Huang R. Xiong Yue Wang Yanmei Jiao 22 9 0 03 Feb 2023
DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization Chao-Yeh Chen Xinhao Liu Yiming Li Li Ding Chen Feng 3DPC SSL 37 15 0 13 Dec 2022
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance Sandipan Das N. Mahabadi Maurice F. Fallon S. Chatterjee 46 5 0 03 Oct 2022
InTEn-LOAM: Intensity and Temporal Enhanced LiDAR Odometry and Mapping Shuaixin Li B. Tian Xiaozhou Zhu Jianjun Gui Yao Wen Guangyun Li 26 3 0 13 Sep 2022
Present and Future of SLAM in Extreme Underground Environments K. Ebadi Lukas Bernreiter Harel Biggie Gavin Catt Yun Chang ... Martin Saska Sebastian Scherer Roland Siegwart Jason L. Williams Luca Carlone 31 45 0 02 Aug 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter Kostas Alexis 36 36 0 11 Jul 2022
Reactive Navigation of an Unmanned Aerial Vehicle with Perception-based Obstacle Avoidance Constraints B. Lindqvist Sina Sharif Mansouri Jakub Haluška G. Nikolakopoulos 29 13 0 04 Jul 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda Martin Saska 26 24 0 16 Jun 2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments Yun Chang K. Ebadi Chris Denniston M. Ginting Antoni Rosinol ... J. Shi Arghya Chatterjee B. Morrell Ali-akbar Agha-mohammadi Luca Carlone 27 101 0 26 May 2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping Andrzej Reinke M. Palieri B. Morrell Yun Chang K. Ebadi Luca Carlone Ali-akbar Agha-mohammadi 51 69 0 24 May 2022
PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration Lillian Clark J. Edlund M. S. Net T. Vaquero Ali-akbar Agha-mohammadi 4 11 0 03 May 2022
Gravity-constrained point cloud registration V. Kubelka Maxime Vaidis F. Pomerleau 8 12 0 25 Mar 2022
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction Kenny Chen R. Nemiroff B. Lopez 8 82 0 07 Mar 2022
Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 3DV 46 24 0 01 Feb 2022
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge Marco Tranzatto Frank Mascarich Lukas Bernreiter C. Godinho Marco Camurri ... Marco Hutter Roland Siegwart M. Mueller Maurice F. Fallon Kostas Alexis 23 108 0 18 Jan 2022
Motion Primitives-based Navigation Planning using Deep Collision Prediction Huan Nguyen Sondre Holm Fyhn Paolo De Petris Kostas Alexis 21 22 0 10 Jan 2022
Edge Robotics: Edge-Computing-Accelerated Multi-Robot Simultaneous Localization and Mapping Peng Huang Liekang Zeng Xu Chen Ke Luo Zhi Zhou Shuai Yu 30 51 0 25 Dec 2021
MetroLoc: Metro Vehicle Mapping and Localization with LiDAR-Camera-Inertial Integration Yusheng Wang Weiwei Song Yi Zhang Fei Huang Zhiyong Tu Y. Lou 6 4 0 01 Nov 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 56 131 0 01 Oct 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems Amanda Prorok Matthew Malencia Luca Carlone Gaurav Sukhatme Brian M. Sadler Vijay R. Kumar 97 53 0 25 Sep 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 43 118 0 15 Jul 2021
Simple But Effective Redundant Odometry for Autonomous Vehicles Andrzej Reinke Xieyuanli Chen C. Stachniss 8 15 0 25 May 2021
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments Shibo Zhao Hengrui Zhang Peng Wang Lucas Nogueira Sebastian Scherer 13 151 0 30 Apr 2021
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping Thien-Minh Nguyen Shenghai Yuan Muqing Cao Lyun-Ho Yang T. Nguyen Lihua Xie 26 38 0 24 Apr 2021
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments B. Lindqvist Ali-akbar Agha-mohammadi G. Nikolakopoulos 8 34 0 08 Apr 2021
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors S. Fakoorian Angel Santamaria-Navarro B. Lopez D. Simon Ali-akbar Agha-mohammadi 21 21 0 29 Mar 2021