10 citations · 52 across the 31 of their papers we have counts for
50 papers
DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition
Sha Lu, Xuecheng Xu, Li Tang +2
LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable featur…
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map
Xuecheng Xu, Sha Lu, Jun Wu +5
Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seaso…
Map-based Visual-Inertial Localization: Consistency and Complexity
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odom…
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design
Zhuqing Zhang, Yang Song, Shoudong Huang +2
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a n…
Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World
Liang Xie, Hongxiang Yu, Yinghao Zhao +5
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we…
DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-aware Flow
Xin Jing, Xiaqing Ding, Rong Xiong +2
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calib…