2 papers
cs.RO2026
WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion
Junning Lyu, Qizhi Guo, Xia Ning +2
LiDAR-inertial odometry (LIO) is a key component of autonomous navigation, but high-dynamic driving exposes two coupled challenges: intra-scan motion distortion and vibration-conta…
cs.RO2025
A Real-time Spatio-Temporal Trajectory Planner for Autonomous Vehicles with Semantic Graph Optimization
Shan He, Yalong Ma, Tao Song +2
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper,…