10 citations · 29 across the 13 of their papers we have counts for
14 papers
DIFTA-3D: Depth-Consistent Instance-Level Feature Transfer and Adaptation of DINOv3 for 3D Detection
Linman Wang, ZiFei Zhang, Chunran Zheng +2
RGB-D 3D instance detectors benefit from visual semantics, but the task-specific Faster R-CNN/ResNet branch used by IIFNet3D couples feature extraction to a separately trained 2D d…
SparseNav: Instruction-conditioned Sparse Semantic Perception for Training-Free Vision-Language Navigation
Quanhua Chen, Juhan Kang, Runfeng Lin +5
Map-based vision-language navigation (VLN) relies on persistent spatial representations to connect language understanding with geometric planning. However, acquiring semantics beyo…
FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
Chunran Zheng, Fu Zhang
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-sta…
Mesh-Learner: Texturing Mesh with Spherical Harmonics
Yunfei Wan, Jianheng Liu, Chunran Zheng +2
In this paper, we present a 3D reconstruction and rendering framework termed Mesh-Learner that is natively compatible with traditional rasterization pipelines. It integrates mesh a…
GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
Jianheng Liu, Yunfei Wan, Bowen Wang +3
Digital twins are fundamental to the development of autonomous driving and embodied artificial intelligence. However, achieving high-granularity surface reconstruction and high-fid…
FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation
Bingyang Zhou, Chunran Zheng, Ziming Wang +3
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selec…
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
Sheng Hong, Chunran Zheng, Yishu Shen +4
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristi…
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…
Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems
Jianheng Liu, Chunran Zheng, Yunfei Wan +3
This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to…
MFCalib: Single-shot and Automatic Extrinsic Calibration for LiDAR and Camera in Targetless Environments Based on Multi-Feature Edge
Tianyong Ye, Wei Xu, Chunran Zheng +1
This paper presents MFCalib, an innovative extrinsic calibration technique for LiDAR and RGB camera that operates automatically in targetless environments with a single data captur…
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Wei Xu, Zuhao Zou +11
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in…
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…
R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
Jiarong Lin, Chunran Zheng, Wei Xu +1
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robu…
CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System
Yuewen Zhu, Chunran Zheng, Chongjian Yuan +2
Combining lidar in camera-based simultaneous localization and mapping (SLAM) is an effective method in improving overall accuracy, especially at a large scale outdoor scenario. Rec…