Yixin Fang — accepted AI-conference papers

2025

LiLoc: Lifelong Localization Using Adaptive Submap Joining and Egocentric Factor Graph

Yixin Fang, Yanyan Li, Kun Qian, Federico Tombari, Yue Wang, Gim Hee Lee

ICRA 2025

This paper proposes a versatile graph-based lifelong localization framework using LiDAR, LiLoc, which enhances its timeliness by maintaining a single central session while improves the accuracy through multi-modal factors between the central and subsidiary sessions. First, an adaptive submap joining

Cited by 3 Source ↗code ↗Scholar ↗

2024

Point-Line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes

Tong Shi, Kun Qian, Yixin Fang, Yun Zhang, Hai Yu

RA-L 2024

Simultaneous localization and mapping based on 3-D light detection and ranging (LiDAR) tends to degenerate in structural-less environments, leading to a distinct reduction in localization accuracy and mapping precision. This article proposes a point-line LiDAR-visual-inertial odometry (PL-LIVO) base

Cited by 2 Source ↗Scholar ↗