Xinhui Bai — accepted AI-conference papers

2024

A Hybrid Approach for Cross-Modality Pose Estimation Between Image and Point Cloud

Ze Huang, Li Sun, Qibin He, Zhongyang Xiao, Xinhui Bai, Hongyuan Yuan +2

RA-L 2024

Cross-modality pose estimation/localization is a critical challenge for multi-sensor-based perception systems, with applications spanning vehicle localization and online calibrations. In this paper, we introduce a hybrid approach to estimate the camera pose with respect to a point cloud with co-visi

Cited by 1 Source ↗Scholar ↗

2024

NDT-Map-Code: A 3D global descriptor for real-time loop closure detection in lidar SLAM

Lizhou Liao, Wenlei Yan, Li Sun, Xinhui Bai, Zhenxing You, Hongyuan Yuan +1

IROS 2024poster

Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360 FOV lidars. This paper proposes an out-of-the-box NDT (Norma…

Cited by 1 Source ↗Scholar ↗