75 citations · 83 across the 17 of their papers we have counts for
17 papers
G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
Yufei Wei, Shuhao Ye, Chenxiao Hu +5
Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization and multi-camera rig odometry. Each group carries known intra-group geometry fro…
IntentReact: Guiding Reactive Object-Centric Navigation via Topological Intent
Yanmei Jiao, Anpeng Lu, Wenhan Hu +4
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological…
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion
Yanmei Jiao, Binxin Zhang, Peng Jiang +3
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization…
Leveraging BEV Representation for 360-degree Visual Place Recognition
Xuecheng Xu, Yanmei Jiao, Sha Lu +3
This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that util…
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry
Fuzhang Han, Han Zheng, Wenjun Huang +3
With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention whi…
GOOD: General Optimization-based Fusion for 3D Object Detection via LiDAR-Camera Object Candidates
Bingqi Shen, Shuwei Dai, Yuyin Chen +3
3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robu…
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
Shenhan Jia, Yanmei Jiao, Zhuqing Zhang +2
In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO methods suffer from localization drift over long trajectories. In this paper,…
Map-based Visual-Inertial Localization: Consistency and Complexity
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odom…
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud
Xiaqing Ding, Xuecheng Xu, Sha Lu +6
Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid…
Toward Consistent Drift-free Visual Inertial Localization on Keyframe Based Map
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-bas…
Robust localization for planar moving robot in changing environment: A perspective on density of correspondence and depth
Yanmei Jiao, Lilu Liu, Bo Fu +4
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor env…
Improving the generalization of network based relative pose regression: dimension reduction as a regularizer
Xiaqing Ding, Yue Wang, Li Tang +2
Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform…
Deep Samplable Observation Model for Global Localization and Kidnapping
Runjian Chen, Huan Yin, Yanmei Jiao +3
Global localization and kidnapping are two challenging problems in robot localization. The popular method, Monte Carlo Localization (MCL) addresses the problem by iteratively updat…
Globally optimal consensus maximization for robust visual inertial localization in point and line map
Yanmei Jiao, Yue Wang, Bo Fu +4
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose f…
LiDAR-Camera Calibration under Arbitrary Configurations: Observability and Methods
Bo Fu, Yue Wang, Xiaqing Ding +3
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requiremen…
2-Entity RANSAC for robust visual localization in changing environment
Yanmei Jiao, Yue Wang, Bo Fu +4
Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots…