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Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu, Yunfan Ren, Longji Yin +8
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state es…
LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
Wenyi Liu, Yunfan Ren, Rui Guo +6
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result…
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments
Zehuan Yu, Zhijian Qiao, Wenyi Liu +2
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption…