4.7k citations · 5.3k across the 11 of their papers we have counts for
11 papers
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
Sheng Hong, Chunran Zheng, Yishu Shen +4
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristi…
PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment
Tianchen Deng, Guole Shen, Tong Qin +5
Neural implicit scene representations have recently shown encouraging results in dense visual SLAM. However, existing methods produce low-quality scene reconstruction and low-accur…
FlowMap: Path Generation for Automated Vehicles in Open Space Using Traffic Flow
Wenchao Ding, Jieru Zhao, Yubin Chu +5
There is extensive literature on perceiving road structures by fusing various sensor inputs such as lidar point clouds and camera images using deep neural nets. Leveraging the late…
AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot
Tong Qin, Tongqing Chen, Yilun Chen +1
Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localiz…
A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors
Tong Qin, Shaozu Cao, Jie Pan +1
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary…
A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors
Tong Qin, Jie Pan, Shaozu Cao +1
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as st…
Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion
Kejie Qiu, Tong Qin, Hongwen Xie +1
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel id…
Online Temporal Calibration for Monocular Visual-Inertial Systems
Tong Qin, Shaojie Shen
Accurate state estimation is a fundamental module for various intelligent applications, such as robot navigation, autonomous driving, virtual and augmented reality. Visual and iner…
Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving
Peiliang Li, Tong Qin, Shaojie Shen
We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D…
Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM
Tong Qin, Perliang Li, Shaojie Shen
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estim…
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
Tong Qin, Peiliang Li, Shaojie Shen
A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (…