3 papers
cs.CV2024
Consistent and Optimal Solution to Camera Motion Estimation
Guangyang Zeng, Qingcheng Zeng, Xinghan Li +4
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from…
cs.RO2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…
eess.SY2023
Errors Dynamics in Affine Group Systems
Xinghan Li, Jianqi Chen, Han Zhang +2
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In p…