3 papers
cs.RO2024
SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
Hao Xu, Peize Liu, Xinyi Chen +1
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control.…
cs.RO2024
Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles
Zhenmin Huang, Haichao Liu, Shaojie Shen +1
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulti…
cs.CV2024
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
Zhijian Qiao, Zehuan Yu, Binqian Jiang +2
This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we ext…