Shizhuo Yu

UCA-SLAM: Tightly Coupled Visual-LiDAR SLAM with DoF-Wise Uncertainty-Driven Constraint Analysis

Single sensor (visual or LiDAR) simultaneous localization and mapping (SLAM) is fragile in the complex environment, which makes visual-LiDAR fusion a mainstream in SLAM research. However, most existing fusion methods omit explicit modeling of feature uncertainties and do not quantify each feature's …