Xu Lyu — accepted AI-conference papers

2024

AerialVL: A Dataset, Baseline and Algorithm Framework for Aerial-Based Visual Localization With Reference Map

Mengfan He, Chao Chen, Jiacheng Liu, Chunyu Li, Xu Lyu, Guoquan Huang +1

RA-L 2024

Visual localization plays an essential role in the autonomous flight of Unmanned Aerial Vehicles (UAVs) especially for the Global Navigation Satellite System (GNSS) denied environments. Existing aerial-based visual localization methods mainly focus on eliminating image variance between database map

Cited by 15 Source ↗Scholar ↗

2024

In-Flight Initialization of Global Visual-Inertial Estimators using Geospatial Data

Chunyu Li, Mengfan He, Xu Lyu, Ziyang Meng

IROS 2024

In this work, we propose a solution that leverages geospatial data to initialize the monocular visual-inertial navigation system. For Visual-Inertial Navigation Systems (VINS) operating on UAVs, the ability to perform initialization and relocalization in mid-air is essential. However, degenerate mot

Cited by 1 Source ↗Scholar ↗