6 papers · 1 filter
MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM
Yuxuan Zhou, Xingxing Li, Shengyu Li +3
Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguit…
SF-Loc: A Visual Mapping and Geo-Localization System based on Sparse Visual Structure Frames
Yuxuan Zhou, Xingxing Li, Shengyu Li +3
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overc…
iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation
Shuolong Chen, Xingxing Li, Shengyu Li +1
Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, smal…
RIs-Calib: An Open-Source Spatiotemporal Calibrator for Multiple 3D Radars and IMUs Based on Continuous-Time Estimation
Shuolong Chen, Xingxing Li, Shengyu Li +2
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for…
iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems
Shuolong Chen, Xingxing Li, Shengyu Li +2
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic ap…
DBA-Fusion: Tightly Integrating Deep Dense Visual Bundle Adjustment with Multiple Sensors for Large-Scale Localization and Mapping
Yuxuan Zhou, Xingxing Li, Shengyu Li +3
Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability.…