38 citations · 54 across the 4 of their papers we have counts for
4 papers · 1 filter
SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton
Shiping Ma, Haoming Zhang, Marc Toussaint
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed spec…
Learning-based NLOS Detection and Uncertainty Prediction of GNSS Observations with Transformer-Enhanced LSTM Network
Haoming Zhang, Zhanxin Wang, Heike Vallery
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted…
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
Haoming Zhang, Chih-Chun Chen, Heike Vallery +1
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introdu…
onlineFGO: Online Continuous-Time Factor Graph Optimization with Time-Centric Multi-Sensor Fusion for Robust Localization in Large-Scale Environments
Haoming Zhang, Felix Widmayer, Lars Lünnemann +1
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-ce…