Planes ubiquitously exist in the indoor environment. This letter presents a real-time and low-
drift LiDAR SLAM system using planes as the landmark for the indoor environment. Our …

This paper introduces a real-time dense planar LiDAR SLAM system, named π-LSAM, for
the indoor environment. The widely used LiDAR odometry and mapping (LOAM) framework …

We propose the first general and practical framework to design certifiable algorithms for
robust geometric perception in the presence of a large amount of outliers. We investigate the …

Despite the giant leap made in object 6D pose estimation and robotic grasping under
structured scenarios, most approaches depend heavily on the exact CAD models of target …

This paper presents an efficient algorithm for the least-squares problem using the point-to-
plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D …

We present a registration method relying on geometric constraints extracted from parametric
primitives contained in 3D parametric models. Our method solves the registration in closed …

Point set registration (PSR) is an essential problem in surgical navigation and computer-
assisted surgery (CAS). In CAS, PSR can be used to map the intraoperative surgical space …

This letter introduces a novel rigid point set registration (PSR) approach that accurately
aligns the pre-operative space and the intra-operative space together in the scenario of …

Estimating the absolute pose of a camera given a set of points and their observations is
known as the resectioning or Perspective-n-Point (PnP) problem. It is at the core of most …

Computing the pose from 3D data acquired in two different frames is of high importance for
several robotic tasks like odometry, SLAM and place recognition. The pose is generally …