97 citations · 186 across the 7 of their papers we have counts for
7 papers
SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments
Shibo Zhao, Yuanjun Gao, Tianhao Wu +18
Simultaneous localization and mapping (SLAM) is a fundamental task for numerous applications such as autonomous navigation and exploration. Despite many SLAM datasets have been rel…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments
Shibo Zhao, Hengrui Zhang, Peng Wang +2
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensor…
TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint
Shibo Zhao, Peng Wang, Hengrui Zhang +2
To achieve robust motion estimation in visually degraded environments, thermal odometry has been an attraction in the robotics community. However, most thermal odometry methods are…
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
Shibo Zhao, Zheng Fang, HaoLai Li +1
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The pro…
Kinetic Energy Plus Penalty Functions for Sparse Estimation
Zhihua Zhang, Shibo Zhao, Zebang Shen +1
In this paper we propose and study a family of sparsity-inducing penalty functions. Since the penalty functions are related to the kinetic energy in special relativity, we call the…