Cover Image

Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Papais, Katya M., Zhao, Wenda, Barfoot, Timothy D.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Balancing Act: Trading Off Odometry and Map Registration for Efficient Lidar Localization
by: Papais, Katya M., et al.
Published: (2025)

Radar Teach and Repeat: Architecture and Initial Field Testing
by: Qiao, Xinyuan, et al.
Published: (2024)

Toward Teach and Repeat Across Seasonal Deep Snow Accumulation
by: Boxan, Matěj, et al.
Published: (2025)

Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
by: Lisus, Daniil, et al.
Published: (2026)

3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
by: Gentil, Cedric Le, et al.
Published: (2026)

Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
by: Lisus, Daniil, et al.
Published: (2023)

Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior
by: Burnett, Keenan, et al.
Published: (2024)

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
by: Fisker, Desiree, et al.
Published: (2025)

2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields
by: Gentil, Cedric Le, et al.
Published: (2024)

Anti-Degeneracy Scheme for Lidar SLAM based on Particle Filter in Geometry Feature-Less Environments
by: Li, Yanbin, et al.
Published: (2025)

Integral Forms in Matrix Lie Groups
by: Barfoot, Timothy D
Published: (2025)

4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving
by: Qian, Kane, et al.
Published: (2026)

LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR
by: Krawciw, Alexander, et al.
Published: (2024)

Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
by: Zhang, Ziyu, et al.
Published: (2024)

Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics
by: Lilge, Sven, et al.
Published: (2024)

Continuum Robot State Estimation Using Gaussian Process Regression on $SE(3)$
by: Lilge, Sven, et al.
Published: (2022)

Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
by: Dümbgen, Frederike, et al.
Published: (2023)

Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images
by: Huang, Philip, et al.
Published: (2023)

Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
by: Barfoot, Timothy D, et al.
Published: (2023)

SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
by: Holmes, Connor, et al.
Published: (2024)

Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
by: Dümbgen, Frederike, et al.
Published: (2024)

Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots
by: Krawciw, Alexander, et al.
Published: (2023)

Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions
by: Laconte, Johann, et al.
Published: (2023)

Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance
by: Sehn, Jordy, et al.
Published: (2023)

Safe and Smooth: Certified Continuous-Time Range-Only Localization
by: Dümbgen, Frederike, et al.
Published: (2022)

GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
by: Zhang, Haoming, et al.
Published: (2023)

Data-Driven Batch Localization and SLAM Using Koopman Linearization
by: Guo, Zi Cong, et al.
Published: (2023)

MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR
by: Xu, Binbin, et al.
Published: (2024)

Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping
by: Gentil, Cedric Le, et al.
Published: (2025)

Do We Still Need to Work on Odometry for Autonomous Driving?
by: Gentil, Cedric Le, et al.
Published: (2025)

IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation
by: Burnett, Keenan, et al.
Published: (2024)

The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
by: Preston-Krebs, Elliot, et al.
Published: (2024)

State Estimation for Continuum Multi-Robot Systems on SE(3)
by: Lilge, Sven, et al.
Published: (2024)

SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking
by: Papais, Sandro, et al.
Published: (2024)

On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
by: Holmes, Connor, et al.
Published: (2023)

aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search
by: Patel, Tanmay P., et al.
Published: (2025)

KILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter
by: Guo, Zi Cong, et al.
Published: (2026)

Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics
by: Guo, Zi Cong, et al.
Published: (2024)

LiDAR Teach, Radar Repeat: Robust Cross-Modal Navigation in Degenerate and Varying Environments
by: Xiao, Renxiang, et al.
Published: (2026)

Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments
by: de Heuvel, Jorge, et al.
Published: (2023)