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cs.RO2025
Uni-Gaussians: Unifying Camera and Lidar Simulation with Gaussians for Dynamic Driving Scenarios
Zikang Yuan, Yuechuan Pu, Hongcheng Luo +7
Ensuring the safety of autonomous vehicles necessitates comprehensive simulation of multi-sensor data, encompassing inputs from both cameras and LiDAR sensors, across various dynam…
cs.RO2025
Direct Sparse Odometry with Continuous 3D Gaussian Maps for Indoor Environments
Jie Deng, Fengtian Lang, Zikang Yuan +1
Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-l…
cs.RO2025
SR-LIO++: LiDAR-Inertial Odometry and Quantized Mapping with Caching-Aware Sweep Reconstruction
Zikang Yuan, Ruiye Ming, Chengwei Zhao +6
Addressing the inherent low acquisition frequency limitation of 3D LiDAR to achieve high-frequency output has become a critical research focus in the LiDAR-Inertial Odometry (LIO)…