3 papers
cs.RO2026
A Consistency-Improved LiDAR-Inertial Bundle Adjustment
Xinran Li, Shuaikang Zheng, Pengcheng Zheng +4
Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impre…
eess.SY2024
Local Observability of VINS and LINS
Xinran Li
This work analyzes unobservable directions of Vision-aided Inertial Navigation System (VINS) and Lidar-aided Inertial Navigation System (LINS) nonlinear model. Under the assumption…
cs.RO2023
Analysis on Multi-robot Relative 6-DOF Pose Estimation Error Based on UWB Range
Xinran Li, Shuaikang Zheng, Pengcheng Zheng +3
Relative pose estimation is the foundational requirement for multi-robot system, while it is a challenging research topic in infrastructure-free scenes. In this study, we analyze t…