19 citations · 26 across the 15 of their papers we have counts for
16 papers
VeriCalib: Verifiable Target-Based LiDAR-Camera Calibration
Xiangcheng Hu, Xieyuanli Chen, Feiyi Chen +8
Target-based extrinsic calibration estimates the rigid transform between sensors from a few observations of a known target, and its result is commonly assessed by the root-mean-squ…
Automatic Reproducible Camera Intrinsic Calibration
Xiangcheng Hu
Accurate camera intrinsic calibration is fundamental to robot perception, and the accuracy depends on the quality of the collected images. However, existing target-based calibratio…
PCalib: Utilizing Pattern Priors for LiDAR-Camera Extrinsic Calibration
Xiangcheng Hu
Target-based LiDAR-camera extrinsic calibration is a prerequisite for multi-sensor fusion in robotics. However, in the widely adopted four-hole pipeline, \rt{calibration accuracy i…
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia +3
LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned…
MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework
Xiangcheng Hu, Jin Wu, Mingkai Jia +6
Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluat…
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
Jianhao Jiao, Jinhao He, Changkun Liu +4
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequen…
Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios
Zhiqiang Chen, Yuhua Qi, Dapeng Feng +6
The ability to estimate pose and generate maps using 3D LiDAR significantly enhances robotic system autonomy. However, existing open-source datasets lack representation of geometri…
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
Xiangcheng Hu, Jin Wu, Jianhao Jiao +4
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. Ho…
MS-Mapping: Multi-session LiDAR Mapping with Wasserstein-based Keyframe Selection
Xiangcheng Hu, Jin Wu, Jianhao Jiao +2
Large-scale multi-session LiDAR mapping is crucial for various applications but still faces significant challenges in data redundancy, memory consumption, and efficiency. This pape…
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments
Hexiang Wei, Jianhao Jiao, Xiangcheng Hu +7
Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalizat…
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
Xiangcheng Hu, Linwei Zheng, Jin Wu +7
Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions.…
PALoc: Robust Prior-assisted Trajectory Generation for Benchmarking
Xiangcheng Hu, Jin Wu, Jianhao Jiao +2
Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is…
FAST-LIO, Then Bayesian ICP, Then GTSFM
Jerred Chen, Xiangcheng Hu, Shicong Ma +3
For the Hilti Challenge 2022, we created two systems, one building upon the other. The first system is FL2BIPS which utilizes the iEKF algorithm FAST-LIO2 and Bayesian ICP PoseSLAM…
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
Jianhao Jiao, Hexiang Wei, Tianshuai Hu +10
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. T…
csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Maps
Zhenhua Xu, Yuxuan Liu, Lu Gan +4
High-Definition (HD) maps can provide precise geometric and semantic information of static traffic environments for autonomous driving. Road-boundary is one of the most important i…
On Bundle Adjustment for Multiview PointCloud Registration
Huaiyang Huang, Yuxiang Sun, Jin Wu +5
Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise…