Tuan Li — accepted AI-conference papers

2026

Orthogonal Ray Projection: A Tangent-Space Visual Measurement Model for Robust Visual-Inertial Odometry

Bing Han, Tuan Li, Yuezu Lv, Weisong Wen, Zhipeng Wang, Chuang Shi

RA-L 2026

The reprojection error in Visual-Inertial Odometry (VIO) suffers from high nonlinearity due to perspective division, which degrades estimator consistency and robustness, particularly under large depth uncertainty. To address this, we propose a novel visual measurement model, the Orthogonal Ray Proje

Cited by 0 Source ↗Scholar ↗

2023

Efficient Vanishing Point Estimation for Accurate Camera Rotation Estimation in Indoor Environments

Dayu Yan, Haitao Jiang, Tuan Li, Chuang Shi

RA-L 2023

Point-based simultaneous localization and mapping (SLAM) algorithms tend to degrade in texture-less indoor environments. Considering the pervasive presence and structural regularity of line features in artificial scenes, many researchers have developed line-based SLAM systems incorporating structura

Cited by 10 Source ↗Scholar ↗