7 citations · 13 across the 12 of their papers we have counts for
12 papers
A Survey on LiDAR-based Autonomous Aerial Vehicles
Yunfan Ren, Yixi Cai, Haotian Li +6
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and contr…
Flying through cluttered and dynamic environments with LiDAR
Huajie Wu, Wenyi Liu, Yunfan Ren +5
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearin…
Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation
Yisheng Li, Longji Yin, Yixi Cai +6
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical g…
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
Rundong Li, Zheng Liu, Hairuo Wei +3
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the…
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
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…
LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
Rundong Li, Xiyuan Liu, Haotian Li +4
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localiz…
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
Nan Chen, Fanze Kong, Haotian Li +6
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast…
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
Liang Li, Haotian Li, Xiyuan Liu +6
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method lev…
Perch a quadrotor on planes by the ceiling effect
Yuying Zou, Haotian Li, Yunfan Ren +5
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar struct…
ImMesh: An Immediate LiDAR Localization and Meshing Framework
Jiarong Lin, Chongjiang Yuan, Yixi Cai +5
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework…