Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point
  Clouds   Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple
industries and application domains. Lightweight MAVs with only an onboard
flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical
ranging sensors) have potential as mobile and easily deployable sensing
platforms. When deployed from a ground robot, a key parameter is a relative
localization between the ground robot and the MAV. This paper proposes a novel
method for tracking MAVs in lidar point clouds. In lidar point clouds, we
consider the speed and distance of the MAV to actively adapt the lidar's frame
integration time and, in essence, the density and size of the point cloud to be
processed. We show that this method enables more persistent and robust tracking
when the speed of the MAV or its distance to the tracking sensor changes. In
addition, we propose a multi-modal tracking method that relies on
high-frequency scans for accurate state estimation, lower-frequency scans for
robust and persistent tracking, and sub-Hz processing for trajectory and object
identification. These three integration and processing modalities allow for an
overall accurate and robust MAV tracking while ensuring the object being
tracked meets shape and size constraints.

7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph
27
The categories of this paper are: comp-gas
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
15
The categories of this paper are: nucl-ex
20
The categories of this paper are: acc-phys
11
The categories of this paper are: hep-lat
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The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
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The categories of this paper are: stat
37
The categories of this paper are: supr-con