3 citations · 6 across the 4 of their papers we have counts for
5 papers
GR-LIO: A Local Ground-Aware LiDAR-Inertial Odometry System Using Body-to-Ground Height
Zhixin Zhang, Yang Song, Liang Zhao +3
LiDAR-inertial odometry (LIO) is widely used for state estimation in ground-based autonomous mobile robots. However, the geometric constraints provided by the local ground surface…
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design
Zhuqing Zhang, Yang Song, Shoudong Huang +2
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a n…
A Right Invariant Extended Kalman Filter for Object based SLAM
Yang Song, Zhuqing Zhang, Jun Wu +3
With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLA…
Description of Stability for Linear Time-Invariant Systems Based on the First Curvature
Yuxin Wang, Huafei Sun, Shoudong Huang +1
This paper focuses on using the first curvature of trajectory to describe the stability of linear time-invariant system. We extend the results for two and three-dimensional…
Description of Stability for Two and Three-Dimensional Linear Time-Invariant Systems Based on Curvature and Torsion
Yuxin Wang, Huafei Sun, Yang Song +2
This paper focuses on using curvature and torsion to describe the stability of linear time-invariant system. We prove that for a two-dimensional system , (i) if…