69 citations · 98 across the 6 of their papers we have counts for
7 papers
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-…
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Qingyan Zhu, Wei Xu +3
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides gre…
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
Wei Xu, Yixi Cai, Dongjiao He +2
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has…
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds
Guozheng Lu, Wei Xu, Fu Zhang
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifold…
ikd-Tree: An Incremental K-D Tree for Robotic Applications
Yixi Cai, Wei Xu, Fu Zhang
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much l…
Kalman Filters on Differentiable Manifolds
Dongjiao He, Wei Xu, Fu Zhang
Kalman filter is presumably one of the most important and extensively used filtering techniques in modern control systems. Yet, nearly all current variants of Kalman filters are fo…