2 papers
cs.RO2026
A Consistency-Improved LiDAR-Inertial Bundle Adjustment
Xinran Li, Shuaikang Zheng, Pengcheng Zheng +4
Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impre…
eess.SY2024
Local Observability of VINS and LINS
Xinran Li
This work analyzes unobservable directions of Vision-aided Inertial Navigation System (VINS) and Lidar-aided Inertial Navigation System (LINS) nonlinear model. Under the assumption…