6 papers
Terrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
Zhihao Zhan, Le Tao, Shaobin Li +5
Accurate terrain perception is essential for terrain-following flight of agricultural unmanned aerial vehicles (UAVs), yet remains challenging in real-world farmland due to occlusi…
On the Derivation of Tightly-Coupled LiDAR-Inertial Odometry with VoxelMap
Zhihao Zhan
This note presents a concise mathematical formulation of tightly-coupled LiDAR-Inertial Odometry within an iterated error-state Kalman filter framework using a VoxelMap representat…
Thermal odometry and dense mapping using learned odometry and Gaussian splatting
Tianhao Zhou, Yujia Chen, Zhihao Zhan +2
Thermal infrared sensors, with wavelengths longer than smoke particles, can capture imagery independent of darkness, dust, and smoke. This robustness has made them increasingly val…
DC-VLAQ: Query-Residual Aggregation for Robust Visual Place Recognition
Hanyu Zhu, Zhihao Zhan, Yuhang Ming +4
One of the central challenges in visual place recognition (VPR) is learning a robust global representation that remains discriminative under large viewpoint changes, illumination v…
AgriLiRa4D: A Multi-Sensor UAV Dataset for Robust SLAM in Challenging Agricultural Fields
Zhihao Zhan, Yuhang Ming, Shaobin Li +1
Multi-sensor Simultaneous Localization and Mapping (SLAM) is essential for Unmanned Aerial Vehicles (UAVs) performing agricultural tasks such as spraying, surveying, and inspection…
Image Motion Blur Removal in the Temporal Dimension with Video Diffusion Models
Wang Pang, Zhihao Zhan, Xiang Zhu +1
Most motion deblurring algorithms rely on spatial-domain convolution models, which struggle with the complex, non-linear blur arising from camera shake and object motion. In contra…