3 papers
cs.RO2025
Spatiotemporal Calibration and Ground Truth Estimation for High-Precision SLAM Benchmarking in Extended Reality
Zichao Shu, Shitao Bei, Lijun Li +1
Simultaneous localization and mapping (SLAM) plays a fundamental role in extended reality (XR) applications. As the standards for immersion in XR continue to increase, the demands…
cs.RO2025
MoCap2GT: A High-Precision Ground Truth Estimator for SLAM Benchmarking Based on Motion Capture and IMU Fusion
Zichao Shu, Shitao Bei, Jicheng Dai +2
Marker-based optical motion capture (MoCap) systems are widely used to provide ground truth (GT) trajectories for benchmarking SLAM algorithms. However, the accuracy of MoCap-based…
cs.RO2024
A Spatiotemporal Hand-Eye Calibration for Trajectory Alignment in Visual(-Inertial) Odometry Evaluation
Zichao Shu, Lijun Li, Rui Wang +1
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference…