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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…