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Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration
Yiran Zhou, Yingyu Wang, Shoudong Huang +1
Robotic processing of irregular steel scrap requires dense 3-D measurement to replace manual visual assessment in hazardous cutting workcells. The reconstructed map is used to esti…
Information-Preserving Continuous Occupancy Mapping with Variance-Weighted Submap Joining
Zhuhua Bai, Yingyu Wang, Liang Zhao +1
Large-scale SLAM remains challenging due to accumulated trajectory drift and the increasing computational cost of maintaining global consistency. Submap joining alleviates these is…
Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map
Yingyu Wang, Liang Zhao, Shoudong Huang
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly o…
Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames
Yingyu Wang, Liang Zhao, Shoudong Huang
Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the…