22 citations · 28 across the 6 of their papers we have counts for
7 papers
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…
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…
IFTD: Image Feature Triangle Descriptor for Loop Detection in Driving Scenes
Fengtian Lang, Ruiye Ming, Zikang Yuan +1
In this work, we propose a fast and robust Image Feature Triangle Descriptor (IFTD) based on the STD method, aimed at improving the efficiency and accuracy of place recognition in…
SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping with Sweep Reconstruction
Zikang Yuan, Jie Deng, Ruiye Ming +2
Existing LiDAR-inertial-visual odometry and mapping (LIV-SLAM) systems mainly utilize the LiDAR-inertial odometry (LIO) module for structure reconstruction and the visual-inertial…
Semi-Elastic LiDAR-Inertial Odometry
Zikang Yuan, Fengtian Lang, Tianle Xu +3
Existing LiDAR-inertial state estimation assumes that the state at the beginning of current sweep is identical to the state at the end of last sweep. However, if the state at the e…
LIWO: Lidar-Inertial-Wheel Odometry
Zikang Yuan, Fengtian Lang, Tianle Xu +1
LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both…
SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction
Zikang Yuan, Fengtian Lang, Tianle Xu +1
This paper proposes a novel LiDAR-Inertial odometry (LIO), named SR-LIO, based on an iterated extended Kalman filter (iEKF) framework. We adapt the sweep reconstruction method, whi…