Yongnan Chen

2 accepted papers

2022

Leveraging Structural Information to Improve Point Line Visual-Inertial Odometry

Bo Xu, Peng Wang, Yijia He, Yu Chen, Yongnan Chen, Ming Zhou

RA-L 2022

Leveraging line features to improve the accuracy of the SLAM system has been studied in many works. However, making full use of the characteristics of different line features (parallel, non-parallel) to improve the SLAM system is rarely mentioned. In this paper, we designed a VIO system based on poi

Cited by 36 Source ↗code ↗Scholar ↗

2021

Vanishing Point Aided LiDAR-Visual-Inertial Estimator

Peng Wang, Zheng Fang, Shibo Zhao, Yongnan Chen, Ming Zhou, Shan An

ICRA 2021poster

In this paper, we propose a vanishing point aided LiDAR-Visual-Inertial estimator to achieve real-time, low-drift and robust pose estimation. The proposed method is mainly composed of 3 sequential modules, namely IMU-aided vanishing point (VP) detection module, voxel-map based feature depth associat…

Cited by 19 Source ↗Scholar ↗