69 citations · 135 across the 13 of their papers we have counts for
5 papers · 1 filter
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…