自动驾驶

CM-LIUW-Odometry: Robust and High-Precision LiDAR-Inertial-UWB-Wheel Odometry for Extreme Degradation Coal Mine Tunnels

Kun Hu, Menggang Li, Zhiwen Jin, Chaoquan Tang, Eryi Hu, Gongbo Zhou

机构 * School of Mechatronic Engineering, China University of Mining and Technology（机械电子工程学院，中国矿业大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments Accepted by IROS 2025

Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles

Hyungtae Lim, Daebeom Kim, Hyun Myung

机构 * Laboratory for Information & Decision Systems, Massachusetts Institute of Technology（信息与决策系统实验室，麻省理工学院） ； School of Electrical Engineering, KAIST（电气工程学院，韩国科学技术院） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 13 pages, 12 figures

L2RSI: Cross-view LiDAR-based Place Recognition for Large-scale Urban Scenes via Remote Sensing Imagery

Ziwei Shi, Xiaoran Zhang, Wenjing Xu, Yan Xia, Yu Zang, Siqi Shen, Cheng Wang

机构 * Fujian Key Laboratory of Sensing and Computing for Smart Cities, Xiamen University, China（福建智能城市感知与计算重点实验室，厦门大学，中国） ； Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China（多媒体可信感知与高效计算重点实验室，中华人民共和国教育部，厦门大学，中国） ； University of Science and Technology of China, China（中国科学技术大学，中国） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments 17 pages, 7 figures, NeurIPS 2025

GBlobs: Local LiDAR Geometry for Improved Sensor Placement Generalization

Dušan Malić, Christian Fruhwirth-Reisinger, Alexander Prutsch, Wei Lin, Samuel Schulter, Horst Possegger

机构 * Institute of Visual Computing, Graz University of Technology（视觉计算研究所，格拉茨技术大学） ； Christian Doppler Laboratory for Embedded Machine Learning（嵌入式机器学习克里斯蒂安多普勒实验室） ； Institute for Machine Learning, Johannes Kepler University Linz（机器学习研究所，约翰·凯撒大学林茨） ； Amazon（亚马逊） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments 1st place at the IROS'25 RoboSense Challenge, Track #3: Cross-Sensor Placement 3D Object Detection

Pole-Image: A Self-Supervised Pole-Anchored Descriptor for Long-Term LiDAR Localization and Map Maintenance

Wuhao Xie, Kanji Tanaka

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 4 pages, technical report

Dynamic Recalibration in LiDAR SLAM: Integrating AI and Geometric Methods with Real-Time Feedback Using INAF Fusion

Zahra Arjmandi, Gunho Sohn

机构 * Department of Earth and Space Science and Engineering, Lassonde School of Engineering, York University（地球与空间科学与工程系，拉索nde 工程学院，约克大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 9 pages, 9 figures

LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization

Kevin Christiansen Marsim, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, Hyun Myung

机构 * School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology)（韩国科学技术院电子工程学院） ； URobotics Corp.（URobotics公司） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 8 Pages, 9 Figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10050-10057, Oct. 2025

CALM-Net: Curvature-Aware LiDAR Point Cloud-based Multi-Branch Neural Network for Vehicle Re-Identification

Dongwook Lee, Sol Han, Jinwhan Kim

机构 * Robotics Program（机器人学项目） ； Department of Mechanical Engineering（机械工程系） ； Korea Advanced Institute of Science and Technology（韩国科学技术院） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments 10 pages, 7 figures

Characterizing Lidar Point-Cloud Adversities Using a Vector Field Visualization

Daniel Choate, Jason Rife

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments This is the preprint version of the paper published in: Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024), September 2024 The final version is available at https://doi.org/10.33012/2024.19864

DAMM-LOAM: Degeneracy Aware Multi-Metric LiDAR Odometry and Mapping

Nishant Chandna, Akshat Kaushal

机构 * Unmanned Aerial Systems-Delhi Technological University（无人驾驶航空系统-德里技术大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments Accepted at IROS Active Perception Workshop

Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation

Zhongbi Luo, Yunjia Wang, Jan Swevers, Peter Slaets, Herman Bruyninckx

机构 * Division of Robotics, Automation and Mechatronics in the Department of Mechanical Engineering, KU Leuven（机械工程系机器人、自动化与机电系，KU莱顿大学） ； Division of Declarative Languages and Artificial Intelligence (DTAI) in the Department of Computer Science, KU Leuven（计算机科学系声明语言与人工智能系（DTAI），KU莱顿大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton

Shiping Ma, Haoming Zhang, Marc Toussaint

机构 * Learning & Intelligent Systems Research Lab, TU Berlin（学习与智能系统研究实验室，柏林技术大学） ； Technical University of Munich（慕尼黑技术大学） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所（MIRMI）） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

LiDAR-GS:Real-time LiDAR Re-Simulation using Gaussian Splatting

Qifeng Chen, Sheng Yang, Sicong Du, Tao Tang, Rengan Xie, Peng Chen, Yuchi Huo

机构 * Unmanned Vehicle Dept. of CaiNiao Inc., Alibaba Group（阿里巴巴集团 Cainiao 无人机部门） ； Sun Yat-sen University（中山大学） ； Zhejiang University（浙江大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

FORM: Fixed-Lag Odometry with Reparative Mapping utilizing Rotating LiDAR Sensors

Easton R. Potokar, Taylor Pool, Daniel McGann, Michael Kaess

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments Submitted to ICRA 2026

Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation

Yizhe Liu, Han Zhang

机构 * School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education（自动化与智能感知学院、医学机器人研究院、上海交通大学，系统控制与信息处理重点实验室） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Finding an Initial Probe Pose in Teleoperated Robotic Echocardiography via 2D LiDAR-Based 3D Reconstruction

Mariadas Capsran Roshan, Edgar M Hidalgo, Mats Isaksson, Michelle Dunn, Jagannatha Charjee Pyaraka

机构 * School of Engineering, Swinburne University of Technology, Victoria, Australia（1 工程学院，斯威本理工大学，维多利亚，澳大利亚） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments This work has been submitted to the IEEE for possible publication

On the Impact of LiDAR Point Cloud Compression on Remote Semantic Segmentation

Tiago de S. Fernandes, Ricardo L. de Queiroz

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 eess.IV

Comments 5 pages, 8 figures

LiDAR-based Human Activity Recognition through Laplacian Spectral Analysis

Sasan Sharifipour, Constantino Álvarez Casado, Le Nguyen, Tharindu Ekanayake, Manuel Lage Cañellas, Nhi Nguyen, Miguel Bordallo López

机构 * Center for Machine Vision and Signal Analysis (CMVS), University of Oulu, Finland（机器视觉与信号分析中心（CMVS）、奥卢大学，芬兰） ； Candour Ltd, Oulu, Finland（Candour公司、奥卢，芬兰） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments 9 pages, 5 figures, 4 tables, 22 references, conference; Code available at https://github.com/Arritmic/oulu-pointcloud-har

IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM

Johan Hatleskog, Morten Nissov, Kostas Alexis

机构 * Norwegian University of Science and Technology (NTNU)（挪威科学技术大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 8 pages, 7 figures, accepted by The 22nd International Conference on Advanced Robotics (ICAR 2025). Supplementary video: https://youtu.be/95jeWXBMN7c

3D Human Pose and Shape Estimation from LiDAR Point Clouds: A Review

Salma Galaaoui, Eduardo Valle, David Picard, Nermin Samet

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments under review

VF-Plan: Bridging the Art Gallery Problem and Static LiDAR Scanning with Visibility Field Optimization

Biao Xiong, Longjun Zhang, Ruiqi Huang, Junwei Zhou, S. R. U. N. Jafri, Bojian Wu, Fashuai Li

机构 * Wuhan University of Technology（武汉理工大学） ； NED University of Engineering and Technology（奈及利亚工程与技术大学） ； Zhejiang University（浙江大学） ； The Advanced Laser Technology Laboratory of Anhui Province（安徽省先进激光技术实验室） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Bench-RNR: Dataset for Benchmarking Repetitive and Non-repetitive Scanning LiDAR for Infrastructure-based Vehicle Localization

Runxin Zhao, Chunxiang Wang, Hanyang Zhuang, Ming Yang

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Panoramic Direct LiDAR-assisted Visual Odometry

Qirui Hu, Zikang Yuan, Tianle Xu, Xiaoxiang Wang, Jinni Geng, Xin Yang

机构 * Li Siguang School, China University of Geosciences, Wuhan（李四光学院，中国地质大学（武汉）） ； Institute of Artificial Intelligence, Huazhong University of Science and Technology, Wuhan（人工智能研究院，华中科技大学） ； School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan（电子信息与通讯学院，华中科技大学） ； School of Optoelectronic Engineering, Xidian University, Xian（光电工程学院，西安电子科技大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Comments 6 pages, 6 figures

Journal ref in submission 2025

RESPLE: Recursive Spline Estimation for LiDAR-Based Odometry

Ziyu Cao, William Talbot, Kailai Li

机构 * Department of Electrical Engineering, Linköping University（Linköping大学电子工程系） ； Robotic Systems Lab (RSL), ETH Zurich（ETH Zurich机器人系统实验室） ； Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen（Groningen大学伯努利学院） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10666-10673, Oct. 2025

A novel method and dataset for depth-guided image deblurring from smartphone Lidar

Antonio Montanaro, Diego Valsesia

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 eess.IV

AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes

Jianping Li, Xinhang Xu, Zhongyuan Liu, Shenghai Yuan, Muqing Cao, Lihua Xie

机构 * School of Electrical and Electronic Engineering（电子工程学院） ； Nanyang Technological University（南洋理工大学） ； Robotics Institute（机器人研究所） ； Carnegie Mellon University（卡内基梅隆大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.RO

DVLO4D: Deep Visual-Lidar Odometry with Sparse Spatial-temporal Fusion

Mengmeng Liu, Michael Ying Yang, Jiuming Liu, Yunpeng Zhang, Jiangtao Li, Sander Oude Elberink, George Vosselman, Hao Cheng

机构 * University of Twente（特文特大学） ； University of Bath（巴斯大学） ； Shanghai Jiao Tong University（上海交通大学） ； PhiGent Robotics（PhiGent机器人） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

Comments Accepted by ICRA 2025

Multi-LVI-SAM: A Robust LiDAR-Visual-Inertial Odometry for Multiple Fisheye Cameras

Xinyu Zhang, Kai Huang, Junqiao Zhao, Zihan Yuan, Tiantian Feng

机构 * Department of Computer Science and Technology, School of Electronics and Information Engineering, Tongji University（电子信息工程学院计算机科学与技术系） ； MOE Key Lab of Embedded System and Service Computing, Tongji University（教育部嵌入式系统与服务计算重点实验室） ； Institute of Intelligent Vehicles, Tongji University（智能车辆研究院） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

LiGuard: A Streamlined Open-Source Framework for Rapid & Interactive Lidar Research

Muhammad Shahbaz, Shaurya Agarwal

机构 * Department of Civil, Environmental and Construction Engineering, University of Central Florida（土木、环境与建设工程系，中央佛罗里达大学） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV

TE-NeXt: A LiDAR-Based 3D Sparse Convolutional Network for Traversability Estimation

Antonio Santo, Juan J. Cabrera, David Valiente, Carlos Viegas, Arturo Gil

机构 * University Institute for Engineering Research, Miguel Hernández University.（工程研究大学学院，米格尔·赫尔内亚大学） ； Valencian Graduate School and Research Network of Artificial Intelligence (valgrAI)（瓦伦西亚人工智能研究生学院和研究网络） ； Univ. of Coimbra, ADAI, Department of Mechanical Engineering（科英布拉大学，ADAI，机械工程系） 纠错

专题命中 激光雷达 ：LiDAR(title,abstract)；分类 cs.CV