92 citations · 330 across the 18 of their papers we have counts for
6 papers · 1 filter
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…