Bushi Chen — accepted AI-conference papers

2023

LIO-Fusion: Reinforced LiDAR Inertial Odometry by Effective Fusion With GNSS/Relocalization and Wheel Odometry

Wenhong Wu, Xunyu Zhong, Dongjie Wu, Bushi Chen, Xungao Zhong, Qiang Liu

RA-L 2023

Reliable state estimation is a prerequisite for autonomous robot navigation in complex environments. In this work, we present LIO-Fusion, a reinforced LiDAR inertial odometry system that optimally fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation u

Cited by 26 Source ↗Scholar ↗

2023

Real-Time Elevation Mapping with Bayesian Ground Filling and Traversability Analysis for UGV Navigation

Han Xie, Xunyu Zhong, Bushi Chen, Pengfei Peng, Huosheng Hu, Qiang Liu

IROS 2023poster

Unmanned ground vehicles (UGVs) require effective perception and analysis of their surrounding terrain for safe operation. This paper presents a novel approach to their local elevation mapping and traversability analysis using sparse data from a single LiDAR sensor, which can generate a dense local…

Cited by 3 Source ↗Scholar ↗