92 citations · 330 across the 18 of their papers we have counts for
18 papers
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios
Shuang Geng, Zelin Ning, Fu Zhang +1
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due…
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen, Boyu Zhou, Jiarong Lin +3
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is benef…
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
Jiarong Lin, Fu Zhang
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion framework termed R3LIVE, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achie…
Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization
Xiyuan Liu, Chongjian Yuan, Fu Zhang
Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very smal…
Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks
Jinni Zhou, Hao Xu, Zexiang Li +2
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical struct…
Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments
Chongjian Yuan, Xiyuan Liu, Xiaoping Hong +1
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require ch…
Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
Fanze Kong, Wei Xu, Fu Zhang
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree b…
R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
Jiarong Lin, Chunran Zheng, Wei Xu +1
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robu…
Robots State Estimation and Observability Analysis Based on Statistical Motion Models
Wei Xu, Dongjiao He, Yixi Cai +1
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random p…
BALM: Bundle Adjustment for Lidar Mapping
Zheng Liu, Fu Zhang
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA met…
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
Wei Xu, Fu Zhang
This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended K…
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
Jiarong Lin, Xiyuan Liu, Fu Zhang
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardwa…
Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
Zheng Liu, Fu Zhang, Xiaoping Hong
High performance lidars are essential in autonomous robots such as self-driving cars, automated ground vehicles and intelligent machines. Traditional mechanical scanning lidars off…
Hybrid aerial ground locomotion with a single passive wheel
Youming Qin, Yihang Li, Xu Wei +1
Exploiting contacts with environment structures provides extra force support to a UAV, often reducing the power consumption and hence extending the mission time. This paper investi…
A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Jiarong Lin, Fu Zhang
This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local m…
Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
Jiarong Lin, Fu Zhang
LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision…
Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes
Wei Xu, Haowei Gu, Youming Qing +2
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any…
Flying through a narrow gap using neural network: an end-to-end planning and control approach
Jiarong Lin, Luqi Wang, Fei Gao +2
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an en…