6 citations · 12 across the 6 of their papers we have counts for
5 papers · 1 filter
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…
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…