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cs.RO2025
Floorplan-SLAM: A Real-Time, High-Accuracy, and Long-Term Multi-Session Point-Plane SLAM for Efficient Floorplan Reconstruction
Haolin Wang, Zeren Lv, Hao Wei +2
Floorplan reconstruction provides structural priors essential for reliable indoor robot navigation and high-level scene understanding. However, existing approaches either require t…
cs.RO2024
DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization
Zewen Xu, Yijia He, Hao Wei +1
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural def…