SENTINEL computes per-scan reliability scores for range-only LiDAR using geometry-based scan statistics and cross-modal depth consistency with an RGB-D camera to reject corrupted scans during SLAM.
TOPGN: Real-time Transparent Obstacle Detec- tion using Lidar Point Cloud Intensity for Autonomous Robot Naviga- tion,
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Teaching Robots to Say 'I Don't Know' : SENTINEL for Uncertainty-Aware SLAM
SENTINEL computes per-scan reliability scores for range-only LiDAR using geometry-based scan statistics and cross-modal depth consistency with an RGB-D camera to reject corrupted scans during SLAM.