Linwei Zheng — accepted AI-conference papers

2026

Semantic-LiDAR-Inertial-Wheel Odometry Fusion for Robust Localization in Large-Scale Dynamic Environments

Haoxuan Jiang, Peicong Qian, Yusen Xie, Linwei Zheng, Xiaocong Li, Ming Liu +1

ICRA 2026poster

Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry fusion framework, which is specifically designed to provide…

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2021

On Bundle Adjustment for Multiview Point Cloud Registration

Huaiyang Huang, Yuxiang Sun, Jin Wu, Jianhao Jiao, Xiangcheng Hu, Linwei Zheng +2

RA-L 2021

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle Adjustment (BA) has been proven to better maintain global c

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