69 citations · 82 across the 3 of their papers we have counts for
4 papers
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
Fanze Kong, Xiyuan Liu, Benxu Tang +6
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing n…
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
Wei Xu, Yixi Cai, Dongjiao He +2
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has…
ikd-Tree: An Incremental K-D Tree for Robotic Applications
Yixi Cai, Wei Xu, Fu Zhang
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much l…
Robots State Estimation and Observability Analysis Based on Statistical Motion Models
Wei Xu, Dongjiao He, Yixi Cai +1
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random p…