Heping Li

2 accepted papers

2021

BSP-MonoLoc: Basic Semantic Primitives based Monocular Localization on Roads

Heping Li, Changliang Xue, Feng Wen, Hongbo Zhang, Wei Gao

IROS 2021poster

Robust visual localization in traffic scenes is a fundamental problem for self-driving vehicles. However, it is still challenging to achieve accurate localization performance because of drastic viewpoint and illumination changes. To address the issues, we design a novel monocular localization framew…

Cited by 3 Source ↗Scholar ↗

2019

FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM

Fulin Tang, Heping Li, Yihong Wu

ICRA 2019poster

We propose a novel stereo visual SLAM framework considering both accuracy and speed at the same time. The framework makes full use of the advantages of key-feature-based multiple view geometry (MVG) and direct-based formulation. At the front-end, our system performs direct formulation and constant m…

Cited by 18 Source ↗Scholar ↗