5 citations · 15 across the 9 of their papers we have counts for
8 papers · 1 filter
Flying through cluttered and dynamic environments with LiDAR
Huajie Wu, Wenyi Liu, Yunfan Ren +5
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearin…
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
Rundong Li, Zheng Liu, Hairuo Wei +3
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the…
LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
Rundong Li, Xiyuan Liu, Haotian Li +4
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localiz…
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
Liang Li, Haotian Li, Xiyuan Liu +6
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method lev…
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
Xiyuan Liu, Zheng Liu, Fanze Kong +1
Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-…
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
Zheng Liu, Xiyuan Liu, Fu Zhang
Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents a…
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…
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…