Publications (21)
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…
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…
An End-to-End Learning-Based Multi-Sensor Fusion for Autonomous Vehicle Localization
Changhong Lin, Jiarong Lin, Zhiqiang Sui +4
Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy…
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-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…
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…