A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments

13 March 2022

Papers citing "A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments"

32 / 32 papers shown

Title
BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes Minkyun Seo Hyungtae Lim Kanghee Lee Luca Carlone Jaesik Park 3DPC 67 0 0 11 Mar 2025
BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure Haoxin Cai Shenghai Yuan Xinyi Li Junfeng Guo Jianqi Liu 60 3 0 26 Feb 2025
QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives Ji Wu Huai Yu Shu Han Xi-Meng Cai Ming-Feng Wang Wen Yang Gui-Song Xia 3DPC 83 0 0 04 Dec 2024
V2I-Calib++: A Multi-terminal Spatial Calibration Approach in Urban Intersections for Collaborative Perception Qianxin Qu Jiahui Geng Yijin Xiong Shichun Guo Ziqiang Song Jiajun Li Kang Liu Xin Wu Jun Li 26 0 0 14 Oct 2024
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited Hyungtae Lim Daebeom Kim Gunhee Shin Jingnan Shi Ignacio Vizzo Hyun Myung J. Park Luca Carlone 3DPC 26 4 0 23 Sep 2024
LiLoc: Lifelong Localization using Adaptive Submap Joining and Egocentric Factor Graph Yixin Fang Yanyan Li Kun Qian Federico Tombari Yue Wang Gim Hee Lee 30 1 0 16 Sep 2024
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Turcan Tuna Julian Nubert Patrick Pfreundschuh Cesar Cadena Shehryar Khattak Marco Hutter 72 6 0 21 Aug 2024
V2I-Calib: A Novel Calibration Approach for Collaborative Vehicle and Infrastructure LiDAR Systems Qianxin Qu Yijin Xiong Xin Wu Hanyu Li Shichun Guo 43 1 0 14 Jul 2024
Outlier-Robust Long-Term Robotic Mapping Leveraging Ground Segmentation Hyungtae Lim 55 1 0 18 May 2024
Hilti SLAM Challenge 2023: Benchmarking Single + Multi-session SLAM across Sensor Constellations in Construction Ashish Devadas Nair Julien Kindle Plamen Levchev Davide Scaramuzza 57 7 0 15 Apr 2024
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 38 7 0 08 Feb 2024
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots Hyungae Lim Mi-Suk Oh Seungjae Lee Seunguk Ahn Hyun Myung 27 4 0 28 Dec 2023
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation Pavel Petráček Kostas Alexis Martin Saska 3DPC 39 3 0 12 Dec 2023
Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior Xinyi Li Zijian Ma Yinlong Liu Walter Zimmer Hu Cao Feihu Zhang Alois Knoll 26 0 0 02 Nov 2023
Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM Hyungtae Lim Beomsoo Kim Daebeom Kim Eungchang Mason Lee Hyun Myung 43 22 0 02 Nov 2023
3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm Koki Aoki Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno Junichi Meguro 24 11 0 16 Oct 2023
Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning Peng Yin Haozhi Cao Thien-Minh Nguyen Shenghai Yuan Shuyang Zhang Kangcheng Liu Lihua Xie 46 14 0 16 Sep 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model Zhijian Qiao Zehuan Yu Binqian Jiang Huan Yin Shaojie Shen 3DPC 38 16 0 22 Aug 2023
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap Zhijian Qiao Zehuan Yu Huan Yin Shaojie Shen 3DPC 26 6 0 22 Jul 2023
RH-Map: Online Map Construction Framework of Dynamic Objects Removal Based on Region-wise Hash Map Structure Zihong Yan Xiaoyi Wu Zhu Jian Xueqian Wang Bin Liang 33 7 0 02 Jul 2023
(LC) $^2$ : LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition A. Lee Seungwon Song Hyungtae Lim Woojoo Lee Hyun Myung 27 18 0 17 Apr 2023
ORORA: Outlier-Robust Radar Odometry Hyungtae Lim Kawon Han Gunhee Shin Giseop Kim Songcheol Hong Hyun Myung 33 16 0 03 Mar 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems Huan Yin Xuecheng Xu Shan Lu Xieyuanli Chen R. Xiong Shaojie Shen C. Stachniss Yue Wang 44 65 0 15 Feb 2023
Segregator: Global Point Cloud Registration with Semantic and Geometric Cues Peng Yin Shenghai Yuan Haozhi Cao Xingyu Ji Shuyang Zhang Lihua Xie 33 19 0 18 Jan 2023
Low-cost Thermal Mapping for Concrete Heat Monitoring A. Lee Younggun Cho Hyun Myung 18 0 0 04 Nov 2022
PU-MFA : Point Cloud Up-sampling via Multi-scale Features Attention Hyungjun Lee Sejoon Lim 3DPC 36 4 0 22 Aug 2022
PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry Dong-Uk Seo Hyungtae Lim Seungjae Lee Hyun Myung 43 19 0 01 Jun 2022
Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor Hyungtae Lim Mi-Suk Oh Hyun Myung 49 113 0 12 Aug 2021
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features Hyunjun Lim Yeeun Kim Kwangyik Jung Sumin Hu Hyun Myung 44 34 0 02 Mar 2021
DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments K. Ebadi M. Palieri Sally Wood C. Padgett Ali-akbar Agha-mohammadi 63 49 0 09 Feb 2021
TEASER: Fast and Certifiable Point Cloud Registration Heng Yang Jingang Shi Luca Carlone 3DPC 151 658 0 21 Jan 2020
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 178 225 0 18 Sep 2019