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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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09/19/2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
Bundle Adjustment (BA) refers to the problem of simultaneous determinati...
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09/15/2021
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online 3D SLAM
This paper proposes an efficient and probabilistic adaptive voxel mappin...
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09/14/2021
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
In this letter, we propose a fast, accurate, and targetless extrinsic ca...
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09/10/2021
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion f...
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07/14/2021
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inert...
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02/07/2021
Embedding manifold structures into Kalman filters
Error-state Kalman filter is an elegant and effective filtering techniqu...
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10/16/2020
BALM: Bundle Adjustment for Lidar Mapping
We propose a framework for bundle adjustment (BA) on sparse lidar points...
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10/16/2020
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
This paper presents a computationally efficient and robust LiDAR-inertia...
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09/21/2016
