75 citations · 139 across the 22 of their papers we have counts for
23 papers
Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map
Liang Zhao, Yingyu Wang, Shoudong Huang
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information.…
Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization
Yuanzheng He, Jiang Wang, Daobilige Su +5
Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of…
SLAM-TKA: Real-time Intra-operative Measurement of Tibial Resection Plane in Conventional Total Knee Arthroplasty
Shuai Zhang, Liang Zhao, Shoudong Huang +3
Total knee arthroplasty (TKA) is a common orthopaedic surgery to replace a damaged knee joint with artificial implants. The inaccuracy of achieving the planned implant position can…
Map-based Visual-Inertial Localization: Consistency and Complexity
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odom…
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design
Zhuqing Zhang, Yang Song, Shoudong Huang +2
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a n…
A Right Invariant Extended Kalman Filter for Object based SLAM
Yang Song, Zhuqing Zhang, Jun Wu +3
With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLA…
DSR: Direct Simultaneous Registration for Multiple 3D Images
Zhehua Mao, Liang Zhao, Shoudong Huang +2
This paper presents a novel algorithm named Direct Simultaneous Registration (DSR) that registers a collection of 3D images in a simultaneous fashion without specifying any referen…
Toward Consistent Drift-free Visual Inertial Localization on Keyframe Based Map
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-bas…
Globally optimal consensus maximization for robust visual inertial localization in point and line map
Yanmei Jiao, Yue Wang, Bo Fu +4
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose f…
Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery
Jingwei Song, Jun Wang, Liang Zhao +2
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovativ…
Analysis of minima for geodesic and chordal cost for a minimal 2D pose-graph SLAM problem
Felix H. Kong, Jiaheng Zhao, Liang Zhao +1
In this paper, we show that for a minimal pose-graph problem, even in the ideal case of perfect measurements and spherical covariance, using the so-called "wrap function" when comp…
An observable time series based SLAM algorithm for deforming environment
Jingwei Song, Liang Zhao, Shoudong Huang +1
In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid so…
Efficient two step optimization for large embedded deformation graph based SLAM
Jingwei Song, Fang Bai, Liang Zhao +2
Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM app…
IN2LAAMA: INertial Lidar Localisation Autocalibration And MApping
Cedric Le Gentil, Teresa Vidal-Calleja, Shoudong Huang
In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibratio…
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings +3
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such posi…
Description of Stability for Linear Time-Invariant Systems Based on the First Curvature
Yuxin Wang, Huafei Sun, Shoudong Huang +1
This paper focuses on using the first curvature of trajectory to describe the stability of linear time-invariant system. We extend the results for two and three-dimensional…
Linear SLAM: Linearising the SLAM Problems using Submap Joining
Liang Zhao, Shoudong Huang, Gamini Dissanayake
The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is indep…
Parallax Bundle Adjustment on Manifold with Convexified Initialization
Liyang Liu, Teng Zhang, Yi Liu +4
Bundle adjustment (BA) with parallax angle based feature parameterization has been shown to have superior performance over BA using inverse depth or XYZ feature forms. In this pape…
MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing
Jingwei Song, Jun Wang, Liang Zhao +2
Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we…
An Invariant-EKF VINS Algorithm for Improving Consistency
Teng Zhang, Kanzhi Wu, Daobilige Su +2
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based V…
Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM
Teng Zhang, Kanzhi Wu, Jingwei Song +2
In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorith…
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning t…
Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles
Dinuka Abeywardena, Shoudong Huang, Ben Barnes +2
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extend…