相关论文: Robust Second-order LiDAR Bundle Adjustment Algori…

This paper extends LiDAR-BIND, a modular multi-modal fusion framework that binds heterogeneous sensors (radar, sonar) to a LiDAR-defined latent space, with mechanisms that explicitly enforce temporal consistency. We introduce three…

We tackle the problem of mosaicing bundle adjustment (i.e., simultaneous refinement of camera orientations and scene map) for a purely rotating event camera. We formulate the problem as a regularized non-linear least squares optimization.…

Research in Simultaneous Localization And Mapping (SLAM) is increasingly moving towards richer world representations involving objects and high level features that enable a semantic model of the world for robots, potentially leading to a…

Reconfigurable intelligent surfaces (RIS) can improve signal propagation environments by adjusting the phase of the incident signal. However, optimizing the phase shifts jointly with the beamforming vector at the access point is challenging…

Data augmentation is a crucial regularization technique for deep neural networks, particularly in medical image classification. Mainstream data augmentation (DA) methods are usually applied at the image level. Due to the specificity and…

Narrow beams are key to wireless communications in millimeter wave frequency bands. Beam alignment (BA) allows the base station (BS) to adjust the direction and width of the beam used for communication. During BA, the BS transmits a number…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

In a typical communication system, in order to maintain a desired SNR level, initial beam alignment (BA) must be established prior to data transmission. In a setup where a Base Station (BS) Tx sends data via a digitally modulated waveform,…

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…

3D reconstruction has been developing all these two decades, from moderate to medium size and to large scale. It's well known that bundle adjustment plays an important role in 3D reconstruction, mainly in Structure from Motion(SfM) and…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

In reconfigurable intelligent surface (RIS) aided millimeter-wave (mmWave) communication systems, in order to overcome the limitation of the conventional channel state information (CSI) acquisition techniques, this paper proposes a location…

In the new perspective of spatial quantization, this article systematically studies the advantages of reconfigurable reflectarray (RRA) designed with closely spaced elements in terms of sidelobe level (SLL), scanning accuracy and scan loss,…

In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative impact on SLAM problems causing an inferior trajectory to be…

Beyond diagonal reconfigurable intelligent surface (BD-RIS) represents a promising architecture for advancing millimeter-wave (mmWave) communications. However, its intricate inter-element connections invalidate the conventional decoupled…

Most of the existing blind image Super-Resolution (SR) methods assume that the blur kernels are space-invariant. However, the blur involved in real applications are usually space-variant due to object motion, out-of-focus, etc., resulting…

Bayesian optimisation (BO) is a standard approach for sample-efficient global optimisation of expensive black-box functions, yet its scalability to high dimensions remains challenging. Here, we investigate nonlinear dimensionality reduction…