6 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…
Non-Rigid Structure-from-Motion via Differential Geometry with Recoverable Conformal Scale
Yongbo Chen, Yanhao Zhang, Shaifali Parashar +2
Non-rigid structure-from-motion (NRSfM), a promising technique for addressing the mapping challenges in monocular visual deformable simultaneous localization and mapping (SLAM), ha…
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…
Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency
Yang Song, Liang Zhao, Shoudong Huang
Inconsistency issue is one crucial challenge for the performance of extended Kalman filter (EKF) based methods for state estimation problems, which is mainly affected by the discre…