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08/25/2023
Snapp: An Agile Robotic Fish with 3-D Maneuverability for Open Water Swim
Fish exhibit impressive locomotive performance and agility in complex un...
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08/24/2023
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
This paper introduces a novel targetless method for joint intrinsic and ...
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07/17/2023
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
Occupancy mapping is a fundamental component of robotic systems to reaso...
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07/03/2023
Perch a quadrotor on planes by the ceiling effect
Perching is a promising solution for a small unmanned aerial vehicle (UA...
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04/29/2023
An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds
Bundle adjustment (BA) on LiDAR point clouds has been extensively invest...
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03/05/2023
Tight Collision Probability for UAV Motion Planning in Uncertain Environment
Operating unmanned aerial vehicles (UAVs) in complex environments that f...
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01/12/2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping ...
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12/22/2022
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
We address the theoretical and practical problems related to the traject...
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11/19/2022
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
The emergence of low-cost, small form factor and light-weight solid-stat...
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09/26/2022
STD: Stable Triangle Descriptor for 3D place recognition
In this work, we present a novel global descriptor termed stable triangl...
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09/24/2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
Reconstructing an accurate and consistent large-scale LiDAR point cloud ...
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09/19/2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
Bundle Adjustment (BA) refers to the problem of simultaneous determinati...
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09/14/2022
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
In this paper, we address the problem of online quadrotor whole-body mot...
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09/14/2022
Decentralized LiDAR-inertial Swarm Odometry
Accurate self and relative state estimation are the critical preconditio...
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09/08/2022
R^3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
Simultaneous localization and mapping (SLAM) are crucial for autonomous ...
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08/08/2022
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
In recent years, mobile robots are becoming ambitious and deployed in la...
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04/09/2022
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
The visible capability is critical in many robot applications, such as i...
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03/02/2022
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
To achieve accurate and robust pose estimation in Simultaneous Localizat...
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02/24/2022
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Quadrotors are agile platforms. With human experts, they can perform ext...
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02/22/2022
Robust and Online LiDAR-inertial Initialization
For most LiDAR-inertial odometry, accurate initial state, including temp...
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09/15/2021
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online 3D SLAM
This paper proposes an efficient and probabilistic adaptive voxel mappin...
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09/14/2021
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
In this letter, we propose a fast, accurate, and targetless extrinsic ca...
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09/10/2021
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion f...
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07/14/2021
FAST-LIO2: Fast Direct LiDAR-inertial Odometry
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inert...
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06/29/2021
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds
We consider the problem of bridging the gap between geometric tracking c...
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04/05/2021
Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles...
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03/02/2021
Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments
In this letter, we present a novel method for automatic extrinsic calibr...
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02/28/2021
Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
In practical applications, autonomous quadrotors are still facing signif...
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02/24/2021
R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
In this letter, we propose a robust, real-time tightly-coupled multi-sen...
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02/22/2021
ikd-Tree: An Incremental K-D Tree for Robotic Applications
This paper proposes an efficient data structure, ikd-Tree, for dynamic s...
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02/07/2021
Embedding manifold structures into Kalman filters
Error-state Kalman filter is an elegant and effective filtering techniqu...
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10/16/2020
BALM: Bundle Adjustment for Lidar Mapping
We propose a framework for bundle adjustment (BA) on sparse lidar points...
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10/16/2020
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
This paper presents a computationally efficient and robust LiDAR-inertia...
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10/12/2020
Robots State Estimation and Observability Analysis Based on Statistical Motion Models
This paper presents a generic motion model to capture mobile robots' dyn...
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07/03/2020
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
LiDAR is playing a more and more essential role in autonomous driving ve...
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06/19/2020
Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
High performance lidars are essential in autonomous robots such as self-...
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06/10/2020
Consolidating Commonsense Knowledge
Commonsense reasoning is an important aspect of building robust AI syste...
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03/20/2020
Hybrid aerial ground locomotion with a single passive wheel
Exploiting contacts with environment structures provides extra force sup...
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09/25/2019
A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
This paper presents a loop closure method to correct the long-term drift...
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09/15/2019
Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
LiDAR odometry and mapping (LOAM) has been playing an important role in ...
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03/21/2019
Flying through a narrow gap using neural network: an end-to-end planning and control approach
In this paper, we investigate the problem of enabling a drone to fly thr...
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09/21/2016