Dr. Andrés Galeote Luque

@article{galeoteluque2023,
title = {GND-LO: Ground Decoupled 3D Lidar Odometry Based on Planar Patches},
author = {Galeote-Luque, Andres and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
url = {https://ieeexplore.ieee.org/abstract/document/10243099},
doi = {10.1109/LRA.2023.3313057},
year  = {2023},
date = {2023-09-01},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {11},
pages = {6923 - 6930},
abstract = {We present a new fast Ground Decoupled 3D Lidar Odometry (GND-LO) method. The particularity of GND-LO is that it takes advantage of the distinct spatial layout found in urban settings to efficiently recover the lidar movement in a decoupled manner. For that, the input scans are reduced to a set of planar patches extracted from the flat surfaces of the scene, found aplenty in these scenarios. These patches can be labeled as either belonging to the ground or walls, decoupling the estimation into two steps. First, the ground planes from each scan, clustered from the ground patches, are registered. Then, the motion estimation is completed by minimizing the distance between the wall patches and their corresponding points from the other scan, whose pairing is iteratively updated. GND-LO has demonstrated to perform both precisely and efficiently beating state-of-the-art approaches. Concretely, experiments on the popular KITTI dataset show that our proposal outperforms its competitors by reducing the average drift by 19% in translation and 4% in rotation. This is achieved by running in real-time without needing GPU or optimized multi-threading, as it is commonplace in the literature.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{andres2022efficient,
title = {Efficient 3D Lidar Odometry Based on Planar Patches},
author = {Galeote-Luque, Andres and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
url = {https://www.mdpi.com/1424-8220/22/18/6976},
doi = {10.3390/s22186976},
issn = {1424-8220},
year  = {2022},
date = {2022-01-01},
journal = {Sensors},
volume = {22},
number = {18},
abstract = {In this paper we present a new way to compute the odometry of a 3D lidar in real-time. Due to the significant relation between these sensors and the rapidly increasing sector of autonomous vehicles, 3D lidars have improved in recent years, with modern models producing data in the form of range images. We take advantage of this ordered format to efficiently estimate the trajectory of the sensor as it moves in 3D space. The proposed method creates and leverages a flatness image in order to exploit the information found in flat surfaces of the scene. This allows for an efficient selection of planar patches from a first range image. Then, from a second image, keypoints related to said patches are extracted. This way, our proposal computes the ego-motion by imposing a coplanarity constraint between pairs <point, plane> whose correspondences are iteratively updated. The proposed algorithm is tested and compared with state-of-the-art ICP algorithms. Experiments show that our proposal, running on a single thread, can run 5× faster than a multi-threaded implementation of GICP, while providing a more accurate localization. A second version of the algorithm is also presented, which reduces the drift even further while needing less than half of the computation time of GICP. Both configurations of the algorithm run at frame rates common for most 3D lidars, 10 and 20 Hz on a standard CPU.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}