3 papers
cs.RO2026
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
cs.RO2025
Universal Online Temporal Calibration for Optimization-based Visual-Inertial Navigation Systems
Yunfei Fan, Tianyu Zhao, Linan Guo +3
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration…
cs.CV2024
SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
Yunfei Fan, Tianyu Zhao, Guidong Wang
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low comp…