mlsanityData to 7 Oct 2026

Intensity Image-based LiDAR Fiducial Marker System

arXiv 2203.01816 ↗First posted 3 Mar 2022cs.RO cs.CV eess.IVcited by 4

Not on the map. Why?

Abstract (arXiv)

The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this paper, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured point cloud with intensity as the input and it has no restriction on marker placement and shape. A marker detection method that locates the predefined 3D fiducials in the point cloud through the intensity image is introduced. Then, an approach that utilizes the detected 3D fiducials to estimate the LiDAR 6-DOF pose that describes the transmission from the world coordinate system to the LiDAR coordinate system is developed. Moreover, all these processes run in real-time (approx 40 Hz on Livox Mid-40 and approx 143 Hz on VLP-16). Qualitative and quantitative experiments are conducted to demonstrate that the proposed system has similar convenience and accuracy as the conventional visual fiducial marker system. The codes and results are available at: https://github.com/York-SDCNLab/IILFM.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 10 of its 33 references that are in the map. First posted on arXiv 3 Mar 2022.

Builds on

10 of 33 references.

References · 10

  1. 2020GRNet: Gridding Residual Network for Dense Point Cloud Completioncited by 174
  2. 2021RangeDet:In Defense of Range View for LiDAR-based 3D Object Detectioncited by 140
  3. 2019LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Drivingcited by 133
  4. 2019Tightly Coupled 3D Lidar Inertial Odometry and Mappingcited by 34
  5. 2019Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoVcited by 27
  6. 2019Improvements to Target-Based 3D LiDAR to Camera Calibrationcited by 9
  7. 2015Good Colour Maps: How to Design Themcited by 6
  8. 2016Mapping and Localization from Planar Markerscited by 5
  9. 2021Navigation of a Self-Driving Vehicle Using One Fiducial Markercited by 5
  10. 2019Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraintscited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 0; 2024: 1; 2025: 1; 2026: 1.

4 papers.

  1. 2025HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimationcited by 4
  2. 2024L-PR: Exploiting LiDAR Fiducial Marker for Unordered Low Overlap Multiview Point Cloud Registrationcited by 2
  3. 2022Fiducial Tag Localization on a 3D LiDAR Prior Mapcited by 0
  4. 2026SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policycited by 0