5 papers · 1 filter
PA-LVIO: Real-Time LiDAR-Visual-Inertial Odometry and Mapping with Pose-Only Bundle Adjustment
Hailiang Tang, Tisheng Zhang, Liqiang Wang +3
Real-time LiDAR-visual-inertial odometry and mapping is crucial for navigation and planning tasks in intelligent transportation systems. This study presents a pose-only bundle adju…
i2Nav-Robot: A Large-Scale Indoor-Outdoor Robot Dataset for Multi-Sensor Fusion Navigation
Hailiang Tang, Tisheng Zhang, Liqiang Wang +9
Accurate and reliable navigation is crucial for autonomous unmanned ground vehicles (UGVs). However, current UGV datasets fall short in meeting the demands for advancing navigation…
MSC-LIO: An MSCKF-Based LiDAR-Inertial Odometry with Same-Plane Cluster Tracking
Tisheng Zhang, Man Yuan, Linfu Wei +2
The multi-state constraint Kalman filter (MSCKF) has been proven to be more efficient than graph optimization for visual-based odometry while with similar accuracy. However, it has…
MR-ULINS: A Tightly-Coupled UWB-LiDAR-Inertial Estimator with Multi-Epoch Outlier Rejection
Tisheng Zhang, Man Yuan, Linfu Wei +3
The LiDAR-inertial odometry (LIO) and the ultra-wideband (UWB) have been integrated together to achieve driftless positioning in global navigation satellite system (GNSS)-denied en…
BA-LINS: A Frame-to-Frame Bundle Adjustment for LiDAR-Inertial Navigation
Hailiang Tang, Tisheng Zhang, Liqiang Wang +2
Bundle Adjustment (BA) has been proven to improve the accuracy of the LiDAR mapping. However, the BA method has not yet been properly employed in a dead-reckoning navigation system…