30 citations · 58 across the 17 of their papers we have counts for
8 papers · 1 filter
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR s…
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map
Xuecheng Xu, Sha Lu, Jun Wu +5
Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seaso…
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
Sha Lu, Xuecheng Xu, Huan Yin +3
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation a…
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud
Xiaqing Ding, Xuecheng Xu, Sha Lu +6
Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid…
HiTMap: A Hierarchical Topological Map Representation for Navigation in Unknown Environments
Xuecheng Xu, Cheng Wang, Yue Wang +1
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-f…
Learning Interpretable BEV Based VIO without Deep Neural Networks
Zexi Chen, Haozhe Du, Xuecheng Xu +3
Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While…
DiSCO: Differentiable Scan Context with Orientation
Xuecheng Xu, Huan Yin, Zexi Chen +2
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent yea…
Collaborative Localization of Aerial and Ground Mobile Robots through Orthomosaic Map
Xuecheng Xu, Zexi Chen, Jiaxin Guo +3
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization appr…