69 citations · 135 across the 13 of their papers we have counts for
13 papers
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…
An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds
Zheng Liu, Fu Zhang
Bundle adjustment (BA) on LiDAR point clouds has been extensively investigated in recent years due to its ability to optimize multiple poses together, resulting in high accuracy an…
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-…
STD: Stable Triangle Descriptor for 3D place recognition
Chongjian Yuan, Jiarong Lin, Zuhao Zou +2
In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length…
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…
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…
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
Chongjian Yuan, Wei xu, Xiyuan Liu +2
This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature th…
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…
Networks with pixels embedding: a method to improve noise resistance in images classification
Yang Liu, Hai-Long Tu, Chi-Chun Zhou +2
In the task of image classification, usually, the network is sensitive to noises. For example, an image of cat with noises might be misclassified as an ostrich. Conventionally, to…
A game method for improving the interpretability of convolution neural network
Jinwei Zhao, Qizhou Wang, Fuqiang Zhang +7
Real artificial intelligence always has been focused on by many machine learning researchers, especially in the area of deep learning. However deep neural network is hard to be und…