10 papers
MAG-VLAQ: Multi-modal Aerial-Ground Query Aggregation for Cross-View Place Recognition
Zhengyi Xu, Yuhang Ming, Zhihao Zhan +3
Multi-modal cross-view place recognition remains a fundamental challenge in computer vision and robotics due to the severe viewpoint, modality, and spatial-structure discrepancies…
High-Quality Spatial Reconstruction and Orthoimage Generation Using Efficient 2D Gaussian Splatting
Qian Wang, Zhihao Zhan, Jialei He +2
Highly accurate geometric precision and dense image features characterize True Digital Orthophoto Maps (TDOMs), which are in great demand for applications such as urban planning, i…
Terrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
Zhihao Zhan, Le Tao, Shaobin Li +5
Accurate terrain perception is essential for terrain-following flight of agricultural unmanned aerial vehicles (UAVs), yet remains challenging in real-world farmland due to occlusi…
On the Derivation of Tightly-Coupled LiDAR-Inertial Odometry with VoxelMap
Zhihao Zhan
This note presents a concise mathematical formulation of tightly-coupled LiDAR-Inertial Odometry within an iterated error-state Kalman filter framework using a VoxelMap representat…
Thermal odometry and dense mapping using learned odometry and Gaussian splatting
Tianhao Zhou, Yujia Chen, Zhihao Zhan +2
Thermal infrared sensors, with wavelengths longer than smoke particles, can capture imagery independent of darkness, dust, and smoke. This robustness has made them increasingly val…
DC-VLAQ: Query-Residual Aggregation for Robust Visual Place Recognition
Hanyu Zhu, Zhihao Zhan, Yuhang Ming +4
One of the central challenges in visual place recognition (VPR) is learning a robust global representation that remains discriminative under large viewpoint changes, illumination v…