Related papers: QLIO: Quantized LiDAR-Inertial Odometry
We present a novel deep convolutional network pipeline, LO-Net, for real-time lidar odometry estimation. Unlike most existing lidar odometry (LO) estimations that go through individually designed feature selection, feature matching, and…
Variational quantum algorithms (VQAs) have the potential of utilizing near-term quantum machines to gain certain computational advantages over classical methods. Nevertheless, modern VQAs suffer from cumbersome computational overhead,…
We propose and implement a family of quantum-informed recursive optimization (QIRO) algorithms for combinatorial optimization problems. Our approach leverages quantum resources to obtain information that is used in problem-specific…
To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research…
This paper proposes QDFO, a dataflow-based optimization approach to Microsoft QIR. QDFO consists of two main functions: one is to preprocess the QIR code so that the LLVM optimizer can capture more optimization opportunities, and the other…
This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan…
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion framework termed R3LIVE, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achieve robust and accurate state estimation. R3LIVE is contained…
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…
Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-inefficiency of methods that use point-wise representations…
Quantum computers have now surpassed classical simulation limits, yet noise continues to limit their practical utility. As the field shifts from proof-of-principle demonstrations to early deployments, there is no standard method for…
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based "last-mile…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
LiDAR-inertial odometry (LIO) has been widely used in robotics due to its high accuracy. However, its performance degrades in degenerate environments, such as long corridors and high-altitude flights, where LiDAR measurements are imbalanced…
As an important technology in 3D mapping, autonomous driving, and robot navigation, LiDAR odometry is still a challenging task. Appropriate data structure and unsupervised deep learning are the keys to achieve an easy adjusted LiDAR…
The rapid advancement of object detection architectures has positioned single stage detectors as the dominant solution for real-time visual perception. A primary source of computational overhead in these models lies in the deep backbone…
Existing LiDAR-inertial-visual odometry and mapping (LIV-SLAM) systems mainly utilize the LiDAR-inertial odometry (LIO) module for structure reconstruction and the visual-inertial odometry (VIO) module for color rendering. However, the…
Factor graph is a graph representing the factorization of a probability distribution function, and has been utilized in many autonomous machine computing tasks, such as localization, tracking, planning and control etc. We are developing an…
Quantum computing is moving swiftly from theoretical to practical applications, making it crucial to establish a significant quantum advantage. Despite substantial investments, access to quantum devices is still limited, with users facing…
In this paper, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera. In contrast to uniform B-spline-based continuous-time…
Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…