MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

7 August 2024

Jin Wu

Papers citing "MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System"

42 / 42 papers shown

Title
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 80 7 0 27 Apr 2024
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments Hexiang Wei Jianhao Jiao Xiangcheng Hu Jingwen Yu Xupeng Xie Jin Wu Yilong Zhu Yuxuan Liu Lujia Wang Mingming Liu 69 16 0 12 Apr 2024
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography Bowen Yang Jie Cheng Bohuan Xue Jianhao Jiao Ming-Yuan Liu 51 5 0 12 Mar 2024
RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation Mathieu Labbé François Michaud 113 740 0 10 Mar 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 80 12 0 31 Jan 2024
Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation Binqian Jiang Shaojie Shen 3DPC 46 21 0 13 Feb 2023
maplab 2.0 -- A Modular and Multi-Modal Mapping Framework Andrei Cramariuc Lukas Bernreiter Florian Tschopp M. Fehr Victor Reijgwart Juan I. Nieto Roland Siegwart Cesar Cadena 52 53 0 01 Dec 2022
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map Xuecheng Xu Shan Lu Jun Wu Haojian Lu Qiuguo Zhu Yiyi Liao R. Xiong Yue Wang 70 43 0 12 Oct 2022
FAST-LIO, Then Bayesian ICP, Then GTSFM Jerred Chen Xiangcheng Hu Shicong Ma Jianhao Jiao Mingming Liu F. Dellaert 74 2 0 01 Oct 2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment Xiyuan Liu Zheng Liu Fanze Kong Fu Zhang 126 48 0 24 Sep 2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds Zheng Liu Xiyuan Liu Fu Zhang 3DPC 76 36 0 19 Sep 2022
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System Boyu Zhou Hao Xu Shaojie Shen 70 106 0 18 Sep 2022
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms Jianhao Jiao Hexiang Wei Tianshuai Hu Xiangcheng Hu Yilong Zhu ... Xupeng Xie Huaiyang Huang R. Geng Lujia Wang Ming-Yuan Liu 53 37 0 25 Aug 2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments Peng Yin Haowen Lai Shiqi Zhao Ruohai Ge Ji Zhang Howie Choset Sebastian Scherer 42 32 0 14 Jul 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 ... Jingang Shi Arghya Chatterjee B. Morrell Ali-akbar Agha-mohammadi Luca Carlone 71 104 0 26 May 2022
NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint Thien-Minh Nguyen Shenghai Yuan Muqing Cao Yang Lyu T. Nguyen Lihua Xie 64 144 0 01 Feb 2022
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset Lintong Zhang Marco Camurri David Wisth Maurice F. Fallon 3DV 54 46 0 16 Dec 2021
Geometry-based Graph Pruning for Lifelong SLAM G. Kurz Matthias Holoch P. Biber 80 18 0 04 Oct 2021
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments Giseop Kim Sunwook Choi Ayoung Kim 66 192 0 28 Sep 2021
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry Chongjian Yuan Wei xu Xiyuan Liu Xiaoping Hong Fu Zhang 86 84 0 15 Sep 2021
On Bundle Adjustment for Multiview PointCloud Registration Huaiyang Huang Yuxiang Sun Jin Wu Jianhao Jiao Xiangcheng Hu Linwei Zheng Lujia Wang Ming-Yuan Liu 3DPC 36 19 0 06 Aug 2021
SemSegMap- 3D Segment-Based Semantic Localization Andrei Cramariuc Florian Tschopp Nikhilesh Alatur S. Benz Tillmann Falck Marius Brühlmeier Benjamin Hahn Juan I. Nieto Roland Siegwart 48 26 0 30 Jul 2021
LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping Giseop Kim Ayoung Kim 73 36 0 16 Jul 2021
FAST-LIO2: Fast Direct LiDAR-inertial Odometry Wei Xu Yixi Cai Dongjiao He Jiarong Lin Fu Zhang 41 871 0 14 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 62 180 0 28 Jun 2021
Kalman Filters on Differentiable Manifolds Dongjiao He Wei Xu Fu Zhang 42 36 0 07 Feb 2021
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration Jianhao Jiao Haoyang Ye Yilong Zhu Ming-Yuan Liu 56 113 0 27 Oct 2020
LCD -- Line Clustering and Description for Place Recognition Felix Taubner Florian Tschopp Tonci Novkovic Roland Siegwart Fadri Furrer 35 18 0 21 Oct 2020
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM C. Campos Richard Elvira J. Rodríguez José M.M. Montiel Juan D. Tardós 72 2,870 0 23 Jul 2020
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping Tixiao Shan Brendan Englot Drew Meyers Wei Wang C. Ratti Daniela Rus 62 1,331 0 01 Jul 2020
Estimating Motion Uncertainty with Bayesian ICP F. A. Maken F. Ramos Lionel Ott 3DPC 40 9 0 16 Apr 2020
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 116 195 0 12 Mar 2020
SegMap: Segment-based mapping and localization using data-driven descriptors Renaud Dubé Andrei Cramariuc Daniel Dugas H. Sommer Marcin Dymczyk Juan I. Nieto Roland Siegwart Cesar Cadena 50 183 0 27 Sep 2019
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams Pierre-Yves Lajoie Benjamin Ramtoula Yun Chang Luca Carlone Giovanni Beltrame 65 182 0 26 Sep 2019
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra Joshua G. Mangelson Maani Ghaffari Ram Vasudevan Ryan Eustice 31 35 0 18 Jun 2019
Tightly Coupled 3D Lidar Inertial Odometry and Mapping Haoyang Ye Yuying Chen Ming-Yuan Liu 56 428 0 15 Apr 2019
A micro Lie theory for state estimation in robotics J. Solà Jeremie Deray Dinesh Atchuthan 48 411 0 04 Dec 2018
Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping David Droeschel Sven Behnke 33 176 0 16 Oct 2018
Open3D: A Modern Library for 3D Data Processing Qian-Yi Zhou Jaesik Park V. Koltun PINN AI4CE 57 1,615 0 30 Jan 2018
maplab: An Open Framework for Research in Visual-inertial Mapping and Localization T. Schneider Marcin Dymczyk M. Fehr Kevin Egger Simon Lynen Igor Gilitschenski Roland Siegwart 61 255 0 28 Nov 2017
Probabilistic Surfel Fusion for Dense LiDAR Mapping Chanoh Park Soohwan Kim Peyman Moghadam Clinton Fookes Sridha Sridharan 43 26 0 05 Sep 2017
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator Tong Qin Peiliang Li Shaojie Shen 63 3,337 0 13 Aug 2017