7 accepted papers
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry fusion framework, which is specifically designed to provide…
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We propose a unified spatial-temporal-semantic fusion module t…
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration methods relying solely on offline maps often exhibit limited ro
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), our approach enables real-time photo-rea…
In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by polynomial inequalities such that robots with general shapes can be suitably characterized. We exploit the collision-free
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or map-building failures due to insufficient robust feature extr…
Visual-based simultaneous localization and mapping (SLAM) systems perform weakly in object tracking and map reconstruction due to the unreliable depth measurement originating from image-only data. Light Detection and Ranging (LiDAR) can be coupled to overcome the drawback of uncertain depth estimati