590 citations · 842 across the 24 of their papers we have counts for
6 papers · 1 filter
Geometric Structure Aided Visual Inertial Localization
Huaiyang Huang, Haoyang Ye, Jianhao Jiao +2
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from d…
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Jianhao Jiao, Haoyang Ye, Yilong Zhu +1
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization…
GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models
Huaiyang Huang, Haoyang Ye, Yuxiang Sun +1
Incorporating prior structure information into the visual state estimation could generally improve the localization performance. In this letter, we aim to address the paradox betwe…
The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation
Tianyu Liu, Qinghai Liao, Lu Gan +28
Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223…
Metric Monocular Localization Using Signed Distance Fields
Huaiyang Huang, Yuxiang Sun, Haoyang Ye +1
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to in…
Monocular Direct Sparse Localization in a Prior 3D Surfel Map
Haoyang Ye, Huaiyang Huang, Ming Liu
In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global…