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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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07/03/2023
Perch a quadrotor on planes by the ceiling effect
Perching is a promising solution for a small unmanned aerial vehicle (UA...
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01/12/2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping ...
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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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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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02/22/2021
ikd-Tree: An Incremental K-D Tree for Robotic Applications
This paper proposes an efficient data structure, ikd-Tree, for dynamic s...
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10/12/2020