18 citations · 23 across the 8 of their papers we have counts for
8 papers
CyberLoc: Towards Accurate Long-term Visual Localization
Liu Liu, Yukai Lin, Xiao Liang +6
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed…
NOCT: Nonlinear Observability with Constraints and Time Offset
Jianzhu Huai, Yukai Lin, Yujia Zhang
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observabilit…
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration
Jianzhu Huai, Yukai Lin, Yuan Zhuang +2
Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with s…
Continuous-Time Spatiotemporal Calibration of a Rolling Shutter Camera-IMU System
Jianzhu Huai, Yuan Zhuang, Qicheng Yuan +1
The rolling shutter (RS) mechanism is widely used by consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. The RS effect leads to image distorti…
Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM
Jianzhu Huai, Yukai Lin, Yuan Zhuang +1
State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation…
A Versatile Keyframe-Based Structureless Filter for Visual Inertial Odometry
Jianzhu Huai, Yukai Lin, Charles Toth +2
Motion estimation by fusing data from at least a camera and an Inertial Measurement Unit (IMU) enables many applications in robotics. However, among the multitude of Visual Inertia…
Infrastructure-based Multi-Camera Calibration using Radial Projections
Yukai Lin, Viktor Larsson, Marcel Geppert +3
Multi-camera systems are an important sensor platform for intelligent systems such as self-driving cars. Pattern-based calibration techniques can be used to calibrate the intrinsic…
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
Abel Gawel, Yukai Lin, Théodore Koutros +2
Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responde…