82 citations · 203 across the 23 of their papers we have counts for
4 papers · 1 filter
General Place Recognition Survey: Towards the Real-world Autonomy Age
Peng Yin, Shiqi Zhao, Ivan Cisneros +6
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The…
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Jiajun Lv, Xingxing Zuo, Kewei Hu +3
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a nove…
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
Nathaniel Merrill, Yuliang Guo, Xingxing Zuo +5
We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our know…
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
Yulin Yang, Patrick Geneva, Xingxing Zuo +1
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observa…