8 papers
GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
Jianheng Liu, Yunfei Wan, Bowen Wang +3
Digital twins are fundamental to the development of autonomous driving and embodied artificial intelligence. However, achieving high-granularity surface reconstruction and high-fid…
FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
Chunran Zheng, Fu Zhang
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-sta…
FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation
Bingyang Zhou, Chunran Zheng, Ziming Wang +3
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selec…
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
Sheng Hong, Chunran Zheng, Yishu Shen +4
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristi…
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…
Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems
Jianheng Liu, Chunran Zheng, Yunfei Wan +3
This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to…