相关论文: BA-LINS: A Frame-to-Frame Bundle Adjustment for Li…

Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration enables a prompt sensor misalignment…

The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, such attitude transformation matrix is divided into two parts…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…

We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

To fully utilize the abundant spectrum resources in millimeter wave (mmWave), Beam Alignment (BA) is necessary for large antenna arrays to achieve large array gains. In practical dynamic wireless environments, channel modeling is…

Accurate prediction of communication link quality metrics is essential for vehicle-to-infrastructure (V2I) systems, enabling smooth handovers, efficient beam management, and reliable low-latency communication. The increasing availability of…

Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging…

Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

A core component of all Structure from Motion (SfM) approaches is bundle adjustment. As the latter is a computational bottleneck for larger blocks, parallel bundle adjustment has become an active area of research. Particularly,…

This paper investigates reconfigurable intelligent surface (RIS)-assisted unmanned aerial vehicle (UAV) downlink networks with fluid antennas (FA), where RIS enables non-line-of-sight (NLoS) transmissions. Moreover, the FA is equipped on…

Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations in a Reproducing Kernel Hilbert Space (RKHS). With a…

This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion,…

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…