4 papers
Information-Preserving Continuous Occupancy Mapping with Variance-Weighted Submap Joining
Zhuhua Bai, Yingyu Wang, Liang Zhao +1
Large-scale SLAM remains challenging due to accumulated trajectory drift and the increasing computational cost of maintaining global consistency. Submap joining alleviates these is…
Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation
Yiran Zhou, Yingyu Wang, Shoudong Huang +1
Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data associati…
Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map
Yingyu Wang, Liang Zhao, Shoudong Huang
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly o…
Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames
Yingyu Wang, Liang Zhao, Shoudong Huang
Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the…