6 accepted papers
In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped with RGB-D or RGB sensors. However, they are prone to decline
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an adaptive decay kernel-based time surface with polarity-aware…
In this letter, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera. In contrast to uniform B-spline-based continuous-time methods, our non-uniform B-spline approach offers significant
Multi-sensor fusion-based localization technology has achieved high accuracy in autonomous systems. How to improve the robustness is the main challenge at present. The most commonly used LiDAR and camera are weather-sensitive, while the FMCW radar has strong adaptability but suffers from noise and g…
In this letter, we propose a probabilistic continuous-time visual-inertial odometry (VIO) for rolling shutter cameras. The continuous-time trajectory formulation naturally facilitates the fusion of asynchronized high-frequency IMU data and motion-distorted rolling shutter images. To prevent intracta
This paper proposes an online large-scale dense mapping method for UAVs with a height of 150–250 meters. We first fuse the GPS with the visual odometry to estimate the scaled poses and sparse points. In order to use the depth of sparse points for depth map, we propose Sparse Confidence Cascade View-…