X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments

29 November 2022

Marco Hutter Robotics Systems Lab

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Papers citing "X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments"

38 / 38 papers shown

Title
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 31 0 0 10 May 2025
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Julian Nubert Turcan Tuna Jonas Frey Cesar Cadena Katherine J. Kuchenbecker Shehryar Khattak Marco Hutter 29 3 0 08 Apr 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
SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building Haoming Huang Zhijian Qiao Zehuan Yu Chuhao Liu Shaojie Shen Fumin Zhang Huan Yin 41 0 0 24 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
FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation Bingyang Zhou Chunran Zheng Ziming Wang Fangcheng Zhu Yixi Cai Fu Zhang 58 0 0 23 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
Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM J. Xu Guanyu Huang Wenlu Yu Xuanxuan Zhang Lijun Zhao Ruifeng Li Shenghai Yuan Lihua Xie 37 4 0 23 Dec 2024
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
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting D. Lee Hyungtae Lim Soohee Han 57 3 0 11 Nov 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
LiveXiv -- A Multi-Modal Live Benchmark Based on Arxiv Papers Content Nimrod Shabtay Felipe Maia Polo Sivan Doveh Wei Lin Muhammad Jehanzeb Mirza ... Mikhail Yurochkin Yuekai Sun Assaf Arbelle Leonid Karlinsky Raja Giryes 21 5 0 14 Oct 2024
SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment Xingyu Ji Shenghai Yuan Jianping Li Pengyu Yin Haozhi Cao Lihua Xie 33 6 0 02 Oct 2024
Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors Morten Nissov Jeffrey A. Edlund Patrick Spieler Curtis Padgett Kostas Alexis Shehryar Khattak 45 1 0 17 Sep 2024
A Robust Probability-based Joint Registration Method of Multiple Point Clouds Considering Local Consistency Lingjie Su Wei Xu Shuyang Zhao Yuqi Cheng Wenlong Li 3DPC 30 0 0 15 Sep 2024
Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios Zhiqiang Chen Yuhua Qi Dapeng Feng Xuebin Zhuang Hongbo Chen Xiangcheng Hu Jin Wu Kelin Peng Peng Lu 43 3 0 08 Sep 2024
Robust Vehicle Localization and Tracking in Rain using Street Maps Y. X. Tan Malika Meghjani 45 0 0 02 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
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 50 2 0 30 Jul 2024
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm Ziyu Zhang Johann Laconte Daniil Lisus Timothy D. Barfoot AAML 43 2 0 08 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 Liu 49 3 0 29 Feb 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 44 10 0 14 Feb 2024
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation Xiangcheng Hu Linwei Zheng Jin Wu R. Geng Yang Yu Hexiang Wei Xiaoyu Tang Lujia Wang Jianhao Jiao Mingming Liu 38 13 0 31 Jan 2024
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration Morten Nissov Shehryar Khattak Jeffrey A. Edlund Curtis Padgett Kostas Alexis Patrick Spieler 37 3 0 30 Jan 2024
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue Guido Caccianiga Julian Nubert Marco Hutter Katherine J. Kuchenbecker 34 1 0 19 Jan 2024
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation Pavel Petráček Kostas Alexis Martin Saska 3DPC 37 3 0 12 Dec 2023
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry Patrick Pfreundschuh Helen Oleynikova Cesar Cadena Roland Siegwart Olov Andersson 37 15 0 02 Oct 2023
Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions Johann Laconte Daniil Lisus T. Barfoot 35 5 0 08 Sep 2023
ICET Online Accuracy Characterization for Geometry-Based Laser Scan Matching Matthew McDermott Jason Rife 3DV 3DPC 26 3 0 14 Jun 2023
PALoc: Robust Prior-assisted Trajectory Generation for Benchmarking Xiangcheng Hu Jin Wu Jianhao Jiao R. Geng Ming Liu 75 0 0 22 May 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 40 4 0 03 May 2023
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way Ignacio Vizzo Tiziano Guadagnino Benedikt Mersch Louis Wiesmann Jens Behley C. Stachniss 3DPC 87 261 0 30 Sep 2022
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM Milad Ramezani Kasra Khosoussi Gavin Catt Peyman Moghadam Jason L. Williams Paulo Borges Fred Pauling N. Kottege 39 50 0 25 May 2022
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
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments Andrea Tagliabue J. Tordesillas Xiaoyi Cai Angel Santamaria-Navarro Jonathan P. How Luca Carlone Ali-akbar Agha-mohammadi 41 53 0 05 Feb 2021
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth Milad Ramezani Yiduo Wang Marco Camurri David Wisth Matías Mattamala Maurice F. Fallon 3DV 74 189 0 12 Mar 2020
TEASER: Fast and Certifiable Point Cloud Registration Heng Yang Jingang Shi Luca Carlone 3DPC 142 658 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 175 224 0 18 Sep 2019