22 citations · 29 across the 4 of their papers we have counts for
4 papers
Panoramic Direct LiDAR-assisted Visual Odometry
Qirui Hu, Zikang Yuan, Tianle Xu +3
Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a m…
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…