12 citations · 35 across the 26 of their papers we have counts for
9 papers · 1 filter
LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis
Kai Huang, Junqiao Zhao, Jiaye Lin +4
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the los…
N-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping
Shuangfu Song, Junqiao Zhao, Kai Huang +3
Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising adv…
LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation
Kai Huang, Junqiao Zhao, Zhongyang Zhu +2
Local geometric information, i.e. normal and distribution of points, is crucial for LiDAR-based simultaneous localization and mapping (SLAM) because it provides constraints for dat…
LIMOT: A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking
Zhongyang Zhu, Junqiao Zhao, Kai Huang +3
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to un…
DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization
Xuebo Tian, Zhongyang Zhu, Junqiao Zhao +2
Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective as…
DL-SLOT: Dynamic Lidar SLAM and Object Tracking Based On Graph Optimization
Xuebo Tian, Junqiao Zhao, Chen Ye
Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of sim…
Scale Estimation with Dual Quadrics for Monocular Object SLAM
Shuangfu Song, Junqiao Zhao, Tiantian Feng +2
The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approa…
TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China
Junqiao Zhao, Chen Ye, Yan Wu +16
TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system o…
Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR
Xudong He, Junqiao Zhao, Lu Sun +4
In this paper, we studied a SLAM method for vector-based road structure mapping using multi-beam LiDAR. We propose to use the polyline as the primary mapping element instead of gri…