5 papers · 1 filter
GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
Jianheng Liu, Yunfei Wan, Bowen Wang +3
Digital twins are fundamental to the development of autonomous driving and embodied artificial intelligence. However, achieving high-granularity surface reconstruction and high-fid…
An End-to-End Learning-Based Multi-Sensor Fusion for Autonomous Vehicle Localization
Changhong Lin, Jiarong Lin, Zhiqiang Sui +4
Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy…
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…
LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
Rundong Li, Xiyuan Liu, Haotian Li +4
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localiz…
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Wei Xu, Zuhao Zou +11
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in…