3 papers
cs.RO2025
Dual Preintegration for Relative State Estimation
Ruican Xia, Hailong Pei
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation…
cs.NI2025
Ghost Points Matter: Far-Range Vehicle Detection with a Single mmWave Radar in Tunnel
Chenming He, Rui Xia, Chengzhen Meng +5
Vehicle detection in tunnels is crucial for traffic monitoring and accident response, yet remains underexplored. In this paper, we develop mmTunnel, a millimeter-wave radar system…
cs.RO2023
Extended Preintegration for Relative State Estimation of Leader-Follower Platform
Ruican Xia, Hailong Pei
Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually…