17 citations · 35 across the 17 of their papers we have counts for
17 papers
IMU Propagation as Preintegration
Jianzhu Huai
IMU preintegration is widely used in factor-graph-based visual--inertial, lidar--inertial, and radar--inertial state estimation, yet it is often treated as a specialized implementa…
RAMBA: 4D Radar Mapping by Bundle Adjustment
Jianzhu Huai, Yiwen Chen, Binliang Wang
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditi…
A Low-Cost Portable Lidar-based Mobile Mapping System on an Android Smartphone
Jianzhu Huai, Yuxin Shao, Yujia Zhang +1
The rapid advancement of the metaverse, digital twins, and robotics underscores the demand for low-cost, portable mapping systems for reality capture. Current mobile solutions, suc…
SNAIL Radar: A large-scale diverse benchmark for evaluating 4D-radar-based SLAM
Jianzhu Huai, Binliang Wang, Yuan Zhuang +3
4D radars are increasingly favored for odometry and mapping of autonomous systems due to their robustness in harsh weather and dynamic environments. Existing datasets, however, oft…
Tightly-Coupled VLP/INS Integrated Navigation by Inclination Estimation and Blockage Handling
Xiao Sun, Yuan Zhuang, Xiansheng Yang +3
Visible Light Positioning (VLP) has emerged as a promising technology capable of delivering indoor localization with high accuracy. In VLP systems that use Photodiodes (PDs) as lig…
3D-SeqMOS: A Novel Sequential 3D Moving Object Segmentation in Autonomous Driving
Qipeng Li, Yuan Zhuang, Yiwen Chen +5
For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. B…