7 papers
GNIO: Gated Neural Inertial Odometry
Dapeng Feng, Yizhen Yin, Zhiqiang Chen +2
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant stride…
Breaking the Static Assumption: A Dynamic-Aware LIO Framework Via Spatio-Temporal Normal Analysis
Chen Zhiqiang, Le Gentil Cedric, Lin Fuling +5
This paper addresses the challenge of Lidar-Inertial Odometry (LIO) in dynamic environments, where conventional methods often fail due to their static-world assumptions. Traditiona…
CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM
Dapeng Feng, Zhiqiang Chen, Yizhen Yin +3
Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computation…
S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM
Dapeng Feng, Yuhua Qi, Shipeng Zhong +5
The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization…
Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios
Zhiqiang Chen, Yuhua Qi, Dapeng Feng +6
The ability to estimate pose and generate maps using 3D LiDAR significantly enhances robotic system autonomy. However, existing open-source datasets lack representation of geometri…
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen, Hongbo Chen, Yuhua Qi +5
LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformati…