6 citations · 19 across the 9 of their papers we have counts for
9 papers
PC-SRIF: Preconditioned Cholesky-based Square Root Information Filter for Vision-aided Inertial Navigation
Tong Ke, Parth Agrawal, Yun Zhang +4
In this paper, we introduce a novel estimator for vision-aided inertial navigation systems (VINS), the Preconditioned Cholesky-based Square Root Information Filter (PC-SRIF). When…
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Weikun Zhen, Huai Yu, Yaoyu Hu +1
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmark…
ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images
Yaoyu Hu, Wenshan Wang, Huai Yu +2
Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data avail…
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
Huai Yu, Weikun Zhen, Wen Yang +2
Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed f…
Line-based Camera Pose Estimation in Point Cloud of Structured Environments
Huai Yu, Weikun Zhen, Wen Yang +1
Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite c…
Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction
Yaoyu Hu, Weikun Zhen, Sebastian Scherer
This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and no…
LiDAR Enhanced Structure-from-Motion
Weikun Zhen, Yaoyu Hu, Huai Yu +1
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situa…
A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions
Weikun Zhen, Yaoyu Hu, Jingfeng Liu +1
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiD…
A Unified 3D Mapping Framework using a 3D or 2D LiDAR
Weikun Zhen, Sebastian Scherer
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based S…