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cs.RO2025
CURL-SLAM: Continuous and Compact LiDAR Mapping
Kaicheng Zhang, Shida Xu, Yining Ding +2
This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Trad…
cs.RO2025
Digital Beamforming Enhanced Radar Odometry
Jingqi Jiang, Shida Xu, Kaicheng Zhang +3
Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar sys…
cs.RO2025
AQUA-SLAM: Tightly-Coupled Underwater Acoustic-Visual-Inertial SLAM with Sensor Calibration
Shida Xu, Kaicheng Zhang, Sen Wang
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic…