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Bounding Boxes as Goals: Language-Conditioned Grasping via Neuro-Symbolic Planning EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation Planning with the Views via Scene Self-Exploration Lifted Schrödinger Bridges for Gaussian Mixture Endpoints: Projection Gaps and Path-Space Obstructions Micro-Swarm Locomotion Optimization in Dynamic Flow using Multi-Objective Multi-Agent Reinforcement Learning OGPO: Sample Efficient Full-Finetuning of Generative Control Policies Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challenge Latent Linear Quadratic Regulator for Robotic Control Tasks 4D Radar Semantic Segmentation of People in Field Conditions Using Temporal Multi-View Networks Delay-Aware Reinforcement Learning for Highway On-Ramp Merging under Stochastic 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CAD-Mesher: A Convenient, Accurate, Dense Mesh-based Mapping Module in SLAM for Dynamic Environments
Yanpeng Jia, Fengkui Cao, Ting Wang, Yandong Tang, Shiliang Shao · 2024-08-12 · via cs.RO updates on arXiv.org

Most LiDAR odometry and SLAM systems construct maps in point clouds, which are discrete and sparse when zoomed in, making them not directly suitable for navigation. Mesh maps represent a dense and continuous map format with low memory consumption, which can approximate complex structures with simple elements, attracting significant attention of researchers in recent years. However, most implementations operate under a static environment assumption. In effect, moving objects cause ghosting, potentially degrading the quality of meshing. To address these issues, we propose a plug-and-play meshing module adapting to dynamic environments, which can easily integrate with various LiDAR odometry to generally improve the pose estimation accuracy of odometry. In our meshing module, a novel two-stage coarse-to-fine dynamic removal method is designed to effectively filter dynamic objects, generating consistent, accurate, and dense mesh maps. To our best know, this is the first mesh construction method with explicit dynamic removal. Additionally, conducive to Gaussian process in mesh construction, sliding window-based keyframe aggregation and adaptive downsampling strategies are used to ensure the uniformity of point cloud. We evaluate the localization and mapping accuracy on five publicly available datasets. Both qualitative and quantitative results demonstrate the superiority of our method compared with the state-of-the-art algorithms. The code and introduction video are publicly available at https://yaepiii.github.io/CAD-Mesher/.