Publications (101)
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
Wei Xu, Yixi Cai, Dongjiao He +2
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has…
Robust Real-time LiDAR-inertial Initialization
Fangcheng Zhu, Yunfan Ren, Fu Zhang
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are oft…
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Qingyan Zhu, Wei Xu +3
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides gre…
Multivariate Time Series Anomaly Detection using DiffGAN Model
Guangqiang Wu, Fu Zhang
In recent years, some researchers have applied diffusion models to multivariate time series anomaly detection. The partial diffusion strategy, which depends on the diffusion steps,…
GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
Jianheng Liu, Yunfei Wan, Bowen Wang +3
Digital twins are fundamental to the development of autonomous driving and embodied artificial intelligence. However, achieving high-granularity surface reconstruction and high-fid…
Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
Jiarong Lin, Fu Zhang
LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision…
A Q-learning algorithm for discrete-time linear-quadratic control with random parameters of unknown distribution: convergence and stabilization
Kai Du, Qingxin Meng, Fu Zhang
This paper studies an infinite horizon optimal control problem for discrete-time linear systems and quadratic criteria, both with random parameters which are independent and identi…
Multi-dimensional Data Analysis and Applications Basing on LLM Agents and Knowledge Graph Interactions
Xi Wang, Xianyao Ling, Kun Li +8
In the current era of big data, extracting deep insights from massive, heterogeneous, and complexly associated multi-dimensional data has become a significant challenge. Large Lang…
Flying through cluttered and dynamic environments with LiDAR
Huajie Wu, Wenyi Liu, Yunfan Ren +5
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearin…
Tunable Ferromagnetism and Thermally Induced Spin Flip in Vanadium-doped Tungsten Diselenide Monolayers at Room Temperature
Yen Thi Hai Pham, Mingzu Liu, Valery Ortiz Jimenez +7
The outstanding optoelectronic and valleytronic properties of transition metal dichalcogenides (TMDs) have triggered intense research efforts by the scientific community. An altern…
RLIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
Jiarong Lin, Fu Zhang
Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work p…
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
Tight Collision Probability for UAV Motion Planning in Uncertain Environment
Tianyu Liu, Fu Zhang, Fei Gao +1
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inhere…
Physics-Informed Hybrid Quantum-Classical Dispatching for Large-Scale Renewable Power Systems:A Noise-Resilient Framework
Fu Zhang, Yuming Zhao
The integration of high-penetration renewable energy introduces significant stochasticity and non-convexity into power system dispatching, challenging the computational limits of c…
Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehicles
Yiming Shu, Jingyuan Zhou, Fu Zhang
Efficiency is critical for autonomous vehicles (AVs), especially for emergency AVs. However, most existing methods focus on regular vehicles, overlooking the distinct strategies re…
Snapp: An Agile Robotic Fish with 3-D Maneuverability for Open Water Swim
Timothy J. K. Ng, Nan Chen, Fu Zhang
Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Re…
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds
Guozheng Lu, Wei Xu, Fu Zhang
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifold…
A Survey on LiDAR-based Autonomous Aerial Vehicles
Yunfan Ren, Yixi Cai, Haotian Li +6
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and contr…
Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
Fanze Kong, Wei Xu, Fu Zhang
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree b…
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
Zheng Liu, Xiyuan Liu, Fu Zhang
Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents a…
Kalman Filters on Differentiable Manifolds
Dongjiao He, Wei Xu, Fu Zhang
Kalman filter is presumably one of the most important and extensively used filtering techniques in modern control systems. Yet, nearly all current variants of Kalman filters are fo…
ikd-Tree: An Incremental K-D Tree for Robotic Applications
Yixi Cai, Wei Xu, Fu Zhang
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much l…
Path-Dependent Optimal Stochastic Control and Viscosity Solution of Associated Bellman Equations
Shanjian Tang, Fu Zhang
In this paper we study the optimal stochastic control problem for a path-dependent stochastic system under a recursive path-dependent cost functional, whose associated Bellman equa…
Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
Benxu Tang, Yunfan Ren, Yixi Cai +6
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivid…
Diffusion Model for Interest Refinement in Multi-Interest Recommendation
Yankun Le, Haoran Li, Baoyuan Ou +4
Multi-interest candidate matching plays a pivotal role in personalized recommender systems, as it captures diverse user interests from their historical behaviors. Most existing met…
Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation
Yisheng Li, Longji Yin, Yixi Cai +6
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical g…
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios
Shuang Geng, Zelin Ning, Fu Zhang +1
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due…
Partial Information Stochastic Differential Games for Backward Stochastic Systems Driven By Lévy Processes
Fu Zhang, Qingxin Meng, Maoning Tang
In this paper, we consider a partial information two-person zero-sum stochastic differential game problem where the system is governed by a backward stochastic differential equatio…
Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems
Jianheng Liu, Chunran Zheng, Yunfei Wan +3
This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to…
Light-controlled room temperature ferromagnetism in vanadium-doped tungsten diselenide semiconducting monolayers
Valery Ortiz Jimenez, Yen Thi Hai Pham, Mingzu Liu +7
Atomically thin transition metal dichalcogenide (TMD) semiconductors hold enormous potential for modern optoelectronic devices and quantum computing applications. By inducing long-…
Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms
Longji Yin, Yunfan Ren, Fangcheng Zhu +6
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been…
Optimal Harvesting of a Stochastic Lotka-Volterra Competition Model with Periodic Coefficients
Wenmin Deng, Fu Zhang
This paper systematically investigates the optimal harvesting of a stochastic Lotka-Volterra competition model with periodic coefficients. Sufficient conditions for the extinction…
Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations
Lintong Zhang, Yifu Tao, Jiarong Lin +2
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representation…
R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
Jiarong Lin, Chunran Zheng, Wei Xu +1
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robu…
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
Jiarong Lin, Xiyuan Liu, Fu Zhang
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardwa…
Consolidating Commonsense Knowledge
Filip Ilievski, Pedro Szekely, Jingwei Cheng +2
Commonsense reasoning is an important aspect of building robust AI systems and is receiving significant attention in the natural language understanding, computer vision, and knowle…
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
Yixi Cai, Fanze Kong, Yunfan Ren +3
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mappi…
Trends on 3d Transition Metal Coordination on Monolayer MoS
He Liu, Walner Costa Silva, Leonardo Santana Gonçalves de Souza +13
Two-dimensional materials (2DM) have attracted much interest due to their distinct optical, electronic, and catalytic properties. These properties can be by tuned a range of method…
FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation
Runqing Wang, Ding Yu, Pengyuan Min +6
We present FlowPilot, a compact world-action model for real-time onboard UAV navigation from depth. Unlike map-then-optimize pipelines that require local reconstruction or end-to-e…
6DAttack: Backdoor Attacks in the 6DoF Pose Estimation
Jihui Guo, Zongmin Zhang, Zhen Sun +4
Deep learning advances have enabled accurate six-degree-of-freedom (6DoF) object pose estimation, widely used in robotics, AR/VR, and autonomous systems. However, backdoor attacks…
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen, Boyu Zhou, Jiarong Lin +3
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is benef…
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
Rundong Li, Zheng Liu, Hairuo Wei +3
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the…
M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation
Yanpeng Jia, Shiyi Wang, Shiliang Shao +3
Ground robots play a crucial role in inspection, exploration, rescue, and other applications. In recent years, advancements in LiDAR technology have made sensors more accurate, lig…
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
Sheng Hong, Chunran Zheng, Yishu Shen +4
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristi…
Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes
Wei Xu, Haowei Gu, Youming Qing +2
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any…
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
Chongjian Yuan, Wei xu, Xiyuan Liu +2
This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature th…
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres
Benxu Tang, Yunfan Ren, Fangcheng Zhu +4
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strat…
Krylov-Safonov estimates for a degenerate diffusion process
Fu Zhang, Kai Du
This paper proves a Krylov-Safonov estimate for a multidimensional diffusion process whose diffusion coefficients are degenerate on the boundary. As applications the existence and…
FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection
Yiming Luo, Yunfei Wang, Hongming Chen +6
Communication is fundamental for multi-robot collaboration, with accurate radio mapping playing a crucial role in predicting signal strength between robots. However, modeling radio…
D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
Benxu Tang, Yixi Cai, Fanze Kong +2
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from…
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
Nan Chen, Fanze Kong, Haotian Li +6
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast…
Considerations for utilizing sodium chloride in epitaxial molybdenum disulfide
Kehao Zhang, Brian M. Bersch, Fu Zhang +10
The utilization of alkali salts, such as NaCl and KI, have enabled the successful growth of large single domain and fully coalesced polycrystalline two-dimensional (2D) transition…
ImMesh: An Immediate LiDAR Localization and Meshing Framework
Jiarong Lin, Chongjiang Yuan, Yixi Cai +5
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework…
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Wei Xu, Zuhao Zou +11
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in…
Flying through a narrow gap using neural network: an end-to-end planning and control approach
Jiarong Lin, Luqi Wang, Fei Gao +2
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an en…
BALM: Bundle Adjustment for Lidar Mapping
Zheng Liu, Fu Zhang
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA met…
Attr-Int: A Simple and Effective Entity Alignment Framework for Heterogeneous Knowledge Graphs
Linyan Yang, Jingwei Cheng, Chuanhao Xu +3
Entity alignment (EA) refers to the task of linking entities in different knowledge graphs (KGs). Existing EA methods rely heavily on structural isomorphism. However, in real-world…
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu, Yunfan Ren, Longji Yin +8
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state es…
Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments
Chongjian Yuan, Xiyuan Liu, Xiaoping Hong +1
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require ch…
LiDAR-based Quadrotor Autonomous Inspection System in Cluttered Environments
Wenyi Liu, Huajie Wu, Liuyu Shi +4
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated wit…
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
Guozheng Lu, Yixi Cai, Nan Chen +3
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatnes…
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
Fanze Kong, Xiyuan Liu, Benxu Tang +6
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing n…
Pontryagin's Principle Based Algorithms for Optimal Control Problems of Parabolic Equation
Weilong You, Fu Zhang
This paper applies the Method of Successive Approximations (MSA) based on Pontryagin's principle to solve optimal control problems with state constraints for semilinear parabolic e…
Agentic Nesting: A New Methodology for Existing Enterprise Application Integration and Services
Xi Wang, Kun Li, Xianyao Ling +8
Enterprise operations extensively rely on multiple heterogeneous business systems and information applications, which also result in severe data silos and process fragmentation. En…
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Yunfan Ren, Fangcheng Zhu, Wenyi Liu +4
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains…
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…
An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds
Zheng Liu, Fu Zhang
Bundle adjustment (BA) on LiDAR point clouds has been extensively investigated in recent years due to its ability to optimize multiple poses together, resulting in high accuracy an…
Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks
Jinni Zhou, Hao Xu, Zexiang Li +2
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical struct…
NALA: an Effective and Interpretable Entity Alignment Method
Chuanhao Xu, Jingwei Cheng, Fu Zhang
Entity alignment (EA) aims to find equivalent entities between two Knowledge Graphs. Existing embedding-based EA methods usually encode entities as embeddings, triples as embedding…
Learning Pugachev's Cobra Maneuver for Tail-sitter UAVs Using Acceleration Model
Wei Xu, Fu Zhang
The Pugachev's cobra maneuver is a dramatic and demanding maneuver requiring the aircraft to fly at extremely high Angle of Attacks (AOA) where stalling occurs. This paper consider…
LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
Rundong Li, Xiyuan Liu, Haotian Li +4
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localiz…
Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
Zheng Liu, Fu Zhang, Xiaoping Hong
High performance lidars are essential in autonomous robots such as self-driving cars, automated ground vehicles and intelligent machines. Traditional mechanical scanning lidars off…
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Yisheng Li, Longji Yin, Tingrui Zhang +6
Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered environments, yet existing planners either oversimplify the payload geome…
Temporal Overlapping Prediction: A Self-supervised Pre-training Method for LiDAR Moving Object Segmentation
Ziliang Miao, Runjian Chen, Yixi Cai +5
Moving object segmentation (MOS) on LiDAR point clouds is crucial for autonomous systems like self-driving vehicles. Previous supervised approaches rely heavily on costly manual an…
Hybrid Quantum-Classical Dispatching for High-Renewable Power Systems:A Noise-Resilient Variational Approach with Real-World Validation
Fu Zhang, Yuming Zhao
This study introduces a hybrid quantum-classical dispatching framework designed for power systems with high renewable penetration. The proposed method integrates a variational quan…
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning
Yunfan Ren, Yixi Cai, Fangcheng Zhu +2
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this…
Backward Stochastic Riccati Equation with Jumps associated with Stochastic Linear Quadratic Optimal Control with Jumps and Random Coefficients
Fu Zhang, Yuchao Dong, Qingxin Meng
In this paper, we investigate the solvability of matrix valued Backward stochastic Riccati equations with jumps (BSREJ), which is associated with a stochastic linear quadratic (SLQ…
STD: Stable Triangle Descriptor for 3D place recognition
Chongjian Yuan, Jiarong Lin, Zuhao Zou +2
In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length…
FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
Chunran Zheng, Fu Zhang
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-sta…
Detecting facial landmarks in the video based on a hybrid framework
Nian Cai, Zhineng Lin, Fu Zhang +2
To dynamically detect the facial landmarks in the video, we propose a novel hybrid framework termed as detection-tracking-detection (DTD). First, the face bounding box is achieved…
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
Xiyuan Liu, Zheng Liu, Fanze Kong +1
Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-…
Robots State Estimation and Observability Analysis Based on Statistical Motion Models
Wei Xu, Dongjiao He, Yixi Cai +1
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random p…
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
Liang Li, Haotian Li, Xiyuan Liu +6
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method lev…
Optimal Harvesting of a Stochastic Logistic Model Driven by One-Sided Tempered Stable Process
Wenmin Deng, Fu Zhang
This paper investigates a class of stochastic Logistic harvesting models driven by tempered stable processes, with a one-sided power-law Lévy measure. We establish threshold condi…
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
Jiarong Lin, Fu Zhang
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion framework termed R3LIVE, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achie…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…
Monolayer Vanadium-doped Tungsten Disulfide: A Room-Temperature Dilute Magnetic Semiconductor
Fu Zhang, Boyang Zheng, Amritanand Sebastian +18
Dilute magnetic semiconductors, achieved through substitutional doping of spin-polarized transition metals into semiconducting systems, enable experimental modulation of spin dynam…
A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Jiarong Lin, Fu Zhang
This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local m…
Perch a quadrotor on planes by the ceiling effect
Yuying Zou, Haotian Li, Yunfan Ren +5
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar struct…
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
Wei Xu, Fu Zhang
This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended K…
LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
Wenyi Liu, Yunfan Ren, Rui Guo +6
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result…
Full orientation control of epitaxial MoS2 on hBN assisted by substrate defects
Fu Zhang, Yuanxi Wang, Chad Erb +4
Inversion asymmetry in two-dimensional materials grants them fascinating properties such as spin-coupled valley degrees of freedom and piezoelectricity, but at the cost of inversio…
Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation
Hai Zhang, Siqi Liang, Li Chen +5
Why must vision-language navigation be bound to detailed and verbose language instructions? While such details ease decision-making, they fundamentally contradict the goal for navi…
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry
Fangcheng Zhu, Yunfan Ren, Fanze Kong +5
Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescu…
Hybrid aerial ground locomotion with a single passive wheel
Youming Qin, Yihang Li, Xu Wei +1
Exploiting contacts with environment structures provides extra force support to a UAV, often reducing the power consumption and hence extending the mission time. This paper investi…
Augmented Lagrange method for optimal control problems of parabolic equation with state constraints
Weilong You, Fu Zhang
The augmented Lagrange method is employed to address the optimal control problem involving pointwise state constraints in parabolic equations. The strong convergence of the primal…
FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation
Bingyang Zhou, Chunran Zheng, Ziming Wang +3
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selec…
Mesh-Learner: Texturing Mesh with Spherical Harmonics
Yunfei Wan, Jianheng Liu, Chunran Zheng +2
In this paper, we present a 3D reconstruction and rendering framework termed Mesh-Learner that is natively compatible with traditional rasterization pipelines. It integrates mesh a…
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
Yunfan Ren, Siqi Liang, Fangcheng Zhu +2
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution…
Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization
Xiyuan Liu, Chongjian Yuan, Fu Zhang
Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very smal…