Hongle Xie — accepted AI-conference papers

2022

ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments

IROS 2022poster

Long-term scene changes pose challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that provides robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built ma…

Cited by 18 Source ↗code ↗Scholar ↗

2020

Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM

Hongle Xie, Weidong Chen, Jingchuan Wang, Hesheng Wang

ICRA 2020poster

Accurate, robust and real-time localization under constrained-resources is a critical problem to be solved. In this paper, we present a new sparse pose-graph visual-inertial SLAM (SPVIS). Unlike the existing methods that are costly to deal with a large number of redundant features and 3D map points,…

Cited by 9 Source ↗Scholar ↗