Xingqun Zhan

2 accepted papers

2026

GLINS: GNSS-LiDAR-INS Integrated Navigation System

Jiahui Liu, Cheng Chi, Xin Zhang, Binlin Zhang, Dongen Li, Xingqun Zhan +1

RA-L 2026

Reliable navigation in complex urban environments is challenging due to frequent GNSS signal outages and multipath interference. A practical mitigation is to incorporate LiDAR-inertial odometry (LIO) to bound drift during GNSS gaps and maintain local accuracy. However, commonly adopted scan-to-map c

Cited by 0 Source ↗Scholar ↗

2023

GICI-LIB: A GNSS/INS/Camera Integrated Navigation Library

Cheng Chi, Xin Zhang, Jiahui Liu, Yulong Sun, Zihao Zhang, Xingqun Zhan

RA-L 2023

Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to its robustness and high accuracy in diverse environments. Ho

Cited by 39 Source ↗code ↗Scholar ↗