3 papers
cs.RO2026
UAV-MapFusion: RTK-Aligned Uncertainty-Aware Coarse-to-Fine Multi-Session UAV Mapping
Feng Pan, Chunran Zheng, Bing Xue +4
Large-scale point cloud maps are essential for robotics and spatial intelligence tasks. UAVs provide an efficient means for large-scale map acquisition; however, due to limited fli…
cs.RO2026
FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry
Zhiyu Chen, Chunran Zheng, Jiayu Wen +4
Robust state estimation and mapping in long-term, large-scale, and highly dynamic environments remains a key challenge in robotics. Existing LiDAR-Inertial-Visual Odometry (LIVO) s…
cs.RO2026
LIT-GS: LiDAR-Inertial-Thermal Gaussian Splatting for Illumination-Robust Mapping
Shikuan Shi, Chunran Zheng, Jiaming Xu +3
Gaussian Splatting has enabled real-time neural rendering, yet existing LiDAR-inertial-visual (LIV) Gaussian mapping pipelines remain fragile under illumination changes and texture…