26 citations · 29 across the 16 of their papers we have counts for
18 papers
\textbf{PLATO}: \emph{Preintegration Learning from Accurate Trajectory Observations} for Neural Inertial Odometry
Haoying Li, Qihang Liu, Yifan Peng +2
Neural inertial odometry has demonstrated strong potential for motion estimation in challenging environments, yet inertial-only preintegration remains sensitive to IMU bias and unc…
Cooperative-ORCA*: Real-Time Proactive Deadlock Avoidance for Continuous-Space Multi-Agent Navigation
Junfeng Wu, Jiaqi Chen, Hongkun Lyu +2
Multi-Agent Path Finding (MAPF) is a problem that requires computing collision-free paths for a set of agents from their start locations to designated goal locations. The problem h…
A High-accuracy Event-based Underwater SLAM System
Yifan Peng, Qihang Liu, Haoying Li +3
While event cameras offer immense potential for underwater SLAM, existing Time Surface (TS)-based methods prove highly unreliable when deployed underwater. Fluctuating camera veloc…
Provably Guaranteed Polytopic Uncertainty Quantification for SLAM
Guangyang Zeng, Yulong Gao, Yuan Shen +4
In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment gu…
SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping
Lingpeng Chen, Jiakun Tang, Apple Pui-Yi Chui +2
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due t…
Spatiotemporal Calibration of Doppler Velocity Logs for Underwater Robots
Hongxu Zhao, Guangyang Zeng, Yunling Shao +2
The calibration of extrinsic parameters and clock offsets between sensors for high-accuracy performance in underwater SLAM systems remains insufficiently explored. Existing methods…
GeVI-SLAM: Gravity-Enhanced Stereo Visua Inertial SLAM for Underwater Robots
Yuan Shen, Yuze Hong, Guangyang Zeng +4
Accurate visual inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient in…
RSS-Based Localization: Ensuring Consistency and Asymptotic Efficiency
Shenghua Hu, Guangyang Zeng, Wenchao Xue +3
We study the problem of signal source localization using received signal strength measurements. We begin by presenting verifiable geometric conditions for sensor deployment that en…
Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization
Guangyang Zeng, Yuan Shen, Ziyang Hong +4
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically,…
BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…
Optimal camera-robot pose estimation in linear time from points and lines
Guangyang Zeng, Biqiang Mu, Qingcheng Zeng +4
Camera pose estimation is a fundamental problem in robotics. This paper focuses on two issues of interest: First, point and line features have complementary advantages, and it is o…
Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data
Yuan Fu, Zheng Zhang, Guangyang Zeng +3
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distanc…
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…
Errors Dynamics in Affine Group Systems
Xinghan Li, Jianqi Chen, Han Zhang +2
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In p…
CPnP: Consistent Pose Estimator for Perspective-n-Point Problem with Bias Elimination
Guangyang Zeng, Shiyu Chen, Biqiang Mu +2
The Perspective-n-Point (PnP) problem has been widely studied in both computer vision and photogrammetry societies. With the development of feature extraction techniques, a large n…
Closed-form Error Propagation on the SE_n(3) Group for Invariant Extended Kalman Filtering with Applications to VINS
Xinghan Li, Haodong Jiang, Xingyu Chen +2
Pose estimation is important for robotic perception, path planning, etc. Robot poses can be modeled on matrix Lie groups and are usually estimated via filter-based methods. In this…
Global and Asymptotically Efficient Localization from Range Measurements
Guangyang Zeng, Biqiang Mu, Jiming Chen +2
We consider the range-based localization problem, which involves estimating an object's position by using sensors, hoping that as the number of sensors increases, the estim…
Localizability with Range-Difference Measurements
Wu Junfeng, Mu Biqiang, Yi Xinlei +2
The physical position is crucial in location-aware services or protocols based on geographic information, where localization is performed given a set of sensor measurements for acq…