自动驾驶

D-LIO: 6DoF Direct LiDAR-Inertial Odometry based on Simultaneous Truncated Distance Field Mapping

D-LIO：基于同时截断距离场映射的6自由度直接激光雷达-惯性里程计

Lucia Coto-Elena, J. E. Maese, L. Merino, F. Caballero

机构 * Service Robotics Laboratory, Universidad Pablo de Olavide（服务机器人实验室，帕布罗·德·奥拉维德大学） 纠错

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

AI总结 D-LIO通过同时截断距离场映射实现6自由度直接激光雷达-惯性里程计，提升环境感知精度与实时性。

Comments 9 pages, 3 figures and 43 references

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 169-176, 2026

DensifyBeforehand: LiDAR-assisted Content-aware Densification for Efficient and Quality 3D Gaussian Splatting

提前密集化：基于LiDAR的内容感知密集化以实现高效且高质量的3D高斯溅射

Phurtivilai Patt, Leyang Huang, Yinqiang Zhang, Yang Lei

机构 * The University of Hong Kong（香港大学） 纠错

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

AI总结 本文提出基于LiDAR的内容感知密集化方法，通过结合稀疏LiDAR数据与单目深度估计，提升3D高斯溅射的初始化效率和视觉质量，降低资源消耗和训练时间。

SALPA: Spaceborne LiDAR Point Adjustment for Enhanced GEDI Footprint Geolocation

SALPA：空间borne LiDAR点调整以增强GEDI足迹地理定位

Narumasa Tsutsumida, Rei Mitsuhashi, Yoshito Sawada, Akira Kato

机构 * Graduate School of Science & Engineering, Saitama University, Japan（埼玉大学理学系研究科） ； Japan Aerospace Exploration Agency, Japan（日本宇宙航空研究开发机构） ； Graduate School of Horticulture, Chiba University, Japan（千叶大学园艺学系研究科） 纠错

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

AI总结 SALPA是一种多算法优化框架，通过整合三种优化范式和五个距离度量，提升GEDI足迹的地理定位精度，适用于复杂地形和不同任务需求。

Comments 21 pages, 2 figures

A visual study of ICP variants for Lidar Odometry

Sebastian Dingler, Hannes Burrichter

机构 * Daimler Truck AG（戴姆勒卡车股份有限公司） ； Technical University of Munich（慕尼黑技术大学） 纠错

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

Comments Iterative closest point; Registration; Odometry; Mapping

LIO-MARS: Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry

Jan Quenzel, Sven Behnke

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

Comments submitted to T-RO, 19 pages

LiDAR-GS++:Improving LiDAR Gaussian Reconstruction via Diffusion Priors

Qifeng Chen, Jiarun Liu, Rengan Xie, Tao Tang, Sicong Du, Yiru Zhao, Yuchi Huo, Sheng Yang

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

Comments Accepted by AAAI-26

LODESTAR: Degeneracy-Aware LiDAR-Inertial Odometry with Adaptive Schmidt-Kalman Filter and Data Exploitation

Eungchang Mason Lee, Kevin Christiansen Marsim, Hyun Myung

机构 * KAIST InnoCORE LLM, KAIST（KAIST信息学院LLM研究中心，KAIST） 纠错

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

Comments 8 pages, 5 figures, 6 tables, accepted for the publication in IEEE Robotics and Automation Letters

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