Yunge Cui

2 accepted papers

2024

LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloud

Yunge Cui, Yinlong Zhang, Jiahua Dong, Haibo Sun, Xieyuanli Chen, Feng Zhu

RA-L 2024

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success. Unfortunately, in the field of 3D, the current methods may fail to

Cited by 54 Source ↗code ↗Scholar ↗

2023

BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM

Yunge Cui, Xieyuanli Chen, Yinlong Zhang, Jiahua Dong, Qingxiao Wu, Feng Zhu

RA-L 2023

Loop closing is a fundamental part of simultaneous localization and mapping (SLAM) for autonomous mobile systems. In the field of visual SLAM, bag of words (BoW) has achieved great success in loop closure. The BoW features for loop searching can also be used in the subsequent 6-DoF loop correction.

Cited by 99 Source ↗code ↗Scholar ↗