290 citations · 314 across the 6 of their papers we have counts for
6 papers
On Embedding B-Splines in Recursive State Estimation
Kailai Li
We present a principled study on establishing a recursive Bayesian estimation scheme using B-splines in Euclidean spaces. The use of recurrent control points as the state vector is…
Gaussian Process on the Product of Directional Manifolds
Ziyu Cao, Kailai Li
We present a principled study on defining Gaussian processes (GPs) with inputs on the product of directional manifolds. A circular kernel is first presented according to the von Mi…
Continuous-Time Ultra-Wideband-Inertial Fusion
Kailai Li, Ziyu Cao, Uwe D. Hanebeck
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for…
Hyperspherical Dirac Mixture Reapproximation
Kailai Li, Florian Pfaff, Uwe D. Hanebeck
We propose a novel scheme for efficient Dirac mixture modeling of distributions on unit hyperspheres. A so-called hyperspherical localized cumulative distribution (HLCD) is introdu…
Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping
Kailai Li, Meng Li, Uwe D. Hanebeck
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry pr…
Improved Pose Graph Optimization for Planar Motions Using Riemannian Geometry on the Manifold of Dual Quaternions
Kailai Li, Johannes Cox, Benjamin Noack +1
We present a novel Riemannian approach for planar pose graph optimization problems. By formulating the cost function based on the Riemannian metric on the manifold of dual quaterni…