Jinhong Xu — accepted AI-conference papers

2021

CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System

Jiajun Lv, Kewei Hu, Jinhong Xu, Yong Liu, Xiushui Ma, Xingxing Zuo

IROS 2021poster

In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively. We apply the proposed framework in a 3D LiDAR-inertial syste…

Cited by 50 Source ↗code ↗Scholar ↗

2020

Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

Jiajun Lv, Jinhong Xu, Kewei Hu, Yong Liu, Xingxing Zuo

IROS 2020poster

Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D LiDAR and the Inertial Measurement Unit (IMU). Regarding the hig…

Cited by 94 Source ↗code ↗Scholar ↗