415 citations · 480 across the 26 of their papers we have counts for
12 papers · 1 filter
UniCalib: Targetless LiDAR-Camera Calibration via Probabilistic Flow on Unified Depth Representations
Shu Han, Xubo Zhu, Ji Wu +4
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online tar…
LiDAR-enhanced 3D Gaussian Splatting Mapping
Jian Shen, Huai Yu, Ji Wu +2
This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDA…
QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives
Ji Wu, Huai Yu, Shu Han +4
In the realm of large-scale point cloud registration, designing a compact symbolic representation is crucial for efficiently processing vast amounts of data, ensuring registration…
MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras
Huai Yu, Junhao Wang, Yao He +2
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems ha…
FE-DeTr: Keypoint Detection and Tracking in Low-quality Image Frames with Events
Xiangyuan Wang, Kuangyi Chen, Wen Yang +3
Keypoint detection and tracking in traditional image frames are often compromised by image quality issues such as motion blur and extreme lighting conditions. Event cameras offer p…
QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds
Ji Wu, Huai Yu, Wen Yang +1
This paper presents a novel framework to learn a concise geometric primitive representation for 3D point clouds. Different from representing each type of primitive individually, we…
2D-3D Pose Tracking with Multi-View Constraints
Huai Yu, Kuangyi Chen, Wen Yang +2
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localizatio…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
Toward Efficient and Robust Multiple Camera Visual-inertial Odometry
Yao He, Huai Yu, Wen Yang +1
Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation l…
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Weikun Zhen, Huai Yu, Yaoyu Hu +1
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmark…
Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild
Taimeng Fu, Huai Yu, Wen Yang +2
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhan…
LiDAR Enhanced Structure-from-Motion
Weikun Zhen, Yaoyu Hu, Huai Yu +1
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situa…