1 citations · 1 across the 5 of their papers we have counts for
4 papers · 1 filter
SCORE: Saturated Consensus Relocalization in Semantic Line Maps
Haodong Jiang, Xiang Zheng, Yanglin Zhang +4
We present SCORE, a visual relocalization system that achieves unprecedented map compactness by adopting semantically labeled 3D line maps. SCORE requires only 0.01\%-0.1\% of the…
Distributed Invariant Kalman Filter for Object-level Multi-robot Pose SLAM
Haoying Li, Qingcheng Zeng, Haoran Li +2
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter base…
Optimal camera-robot pose estimation in linear time from points and lines
Guangyang Zeng, Biqiang Mu, Qingcheng Zeng +4
Camera pose estimation is a fundamental problem in robotics. This paper focuses on two issues of interest: First, point and line features have complementary advantages, and it is o…
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…