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cs.RO2024★ 1 cited
LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis
Kai Huang, Junqiao Zhao, Jiaye Lin +4
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the los…
cs.RO2024
N-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping
Shuangfu Song, Junqiao Zhao, Kai Huang +3
Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising adv…
cs.RO2022
Scale Estimation with Dual Quadrics for Monocular Object SLAM
Shuangfu Song, Junqiao Zhao, Tiantian Feng +2
The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approa…