5 papers
Neural LiDAR Bundle Adjustment
Chin Yung Anson Hon, Kaicheng Zhang, Sen Wang
Recent research has achieved remarkable novel view rendering and scene reconstruction results with Neural Radiance Field (NeRF), including extensions to the LiDAR modality. Few stu…
NAS-GS: Noise-Aware Sonar Gaussian Splatting
Shida Xu, Jingqi Jiang, Jonatan Scharff Willners +1
Underwater sonar imaging plays a crucial role in various applications, including autonomous navigation in murky water, marine archaeology, and environmental monitoring. However, th…
CURL-SLAM: Continuous and Compact LiDAR Mapping
Kaicheng Zhang, Shida Xu, Yining Ding +2
This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Trad…
Digital Beamforming Enhanced Radar Odometry
Jingqi Jiang, Shida Xu, Kaicheng Zhang +3
Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar sys…
AQUA-SLAM: Tightly-Coupled Underwater Acoustic-Visual-Inertial SLAM with Sensor Calibration
Shida Xu, Kaicheng Zhang, Sen Wang
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic…