12 citations · 12 across the 1 of their papers we have counts for
3 papers
cs.RO2021★ 12 cited
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…
cs.RO2021
Kalman Filters on Differentiable Manifolds
Dongjiao He, Wei Xu, Fu Zhang
Kalman filter is presumably one of the most important and extensively used filtering techniques in modern control systems. Yet, nearly all current variants of Kalman filters are fo…
cs.RO2020
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…