Zhiyong Tu — accepted AI-conference papers

2022

Rail Vehicle Localization and Mapping With LiDAR-Vision-Inertial-GNSS Fusion

Yusheng Wang, Weiwei Song, Yidong Lou, Yi Zhang, Fei Huang, Zhiyong Tu +1

RA-L 2022

In this letter, we present a global navigation satellite system (GNSS) aided LiDAR-visual-inertial scheme, RailLoMer-V, for accurate and robust rail vehicle localization and mapping. RailLoMer-V is formulated atop a factor graph and consists of two subsystems: an odometer assisted LiDAR-inertial sys

Cited by 25 Source ↗Scholar ↗

2022

Simultaneous Localization of Rail Vehicles and Mapping of Environment With Multiple LiDARs

Yusheng Wang, Weiwei Song, Yidong Lou, Fei Huang, Zhiyong Tu, Shimin Zhang

RA-L 2022

Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway applications. Our approach starts with measurements preprocessing t

Cited by 8 Source ↗Scholar ↗