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