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08/24/2023
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
This paper introduces a novel targetless method for joint intrinsic and ...
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07/17/2023
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
Occupancy mapping is a fundamental component of robotic systems to reaso...
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12/22/2022
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
We address the theoretical and practical problems related to the traject...
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11/19/2022
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
The emergence of low-cost, small form factor and light-weight solid-stat...
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09/24/2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
Reconstructing an accurate and consistent large-scale LiDAR point cloud ...
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09/14/2022
Decentralized LiDAR-inertial Swarm Odometry
Accurate self and relative state estimation are the critical preconditio...
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02/28/2021