13 citations · 73 across the 17 of their papers we have counts for
17 papers
A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation
Chencan Fu, Lin Li, Jianbiao Mei +4
Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based me…
Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
Jiajun Lv, Xiaolei Lang, Jinhong Xu +3
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time i…
Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras
Xiaolei Lang, Jiajun Lv, Jianxin Huang +3
In this paper, we propose a probabilistic continuous-time visual-inertial odometry (VIO) for rolling shutter cameras. The continuous-time trajectory formulation naturally facilitat…
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Jiajun Lv, Xingxing Zuo, Kewei Hu +3
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a nove…
Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds
Xuemeng Yang, Hao Zou, Xin Kong +5
Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDA…
CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
Jiajun Lv, Kewei Hu, Jinhong Xu +3
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fu…
SSC: Semantic Scan Context for Large-Scale Place Recognition
Lin Li, Xin Kong, Xiangrui Zhao +2
Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information…
SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure
Lin Li, Xin Kong, Xiangrui Zhao +4
LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentatio…
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth
Xingxing Zuo, Nathaniel Merrill, Wei Li +3
In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth map…
FlowMOT: 3D Multi-Object Tracking by Scene Flow Association
Guangyao Zhai, Xin Kong, Jinhao Cui +2
Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better…
F-Siamese Tracker: A Frustum-based Double Siamese Network for 3D Single Object Tracking
Hao Zou, Jinhao Cui, Xin Kong +4
This paper presents F-Siamese Tracker, a novel approach for single object tracking prominently characterized by more robustly integrating 2D and 3D information to reduce redundant…
Semantic Graph Based Place Recognition for 3D Point Clouds
Xin Kong, Xuemeng Yang, Guangyao Zhai +6
Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlik…
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Xingxing Zuo, Yulin Yang, Patrick Geneva +4
Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robot…
Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
Jiajun Lv, Jinhong Xu, Kewei Hu +2
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to cali…
Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints
Xingxing Zuo, Mingming Zhang, Yiming Chen +3
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic…
LIC-Fusion: LiDAR-Inertial-Camera Odometry
Xingxing Zuo, Patrick Geneva, Woosik Lee +2
This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual featur…
PASS3D: Precise and Accelerated Semantic Segmentation for 3D Point Cloud
Xin Kong, Guangyao Zhai, Baoquan Zhong +1
In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustn…