SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping

7 November 2022

Thien-Minh Nguyen

Daniel Duberg

Patric Jensfelt

Shenghai Yuan

Lihua Xie

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Papers citing "SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping"

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Title
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping Lijie Wang Xiaoyi Zhong Ziyi Xu Kaixin Chai Anke Zhao Tianyu Zhao Qianhao Wang Fei Gao 28 0 0 15 May 2025
MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments Yongxin Ma Jie Xu Shenghai Yuan Tian Zhi Wenlu Yu Jun Zhou Lihua Xie 57 4 0 25 Mar 2025
QLIO: Quantized LiDAR-Inertial Odometry Boyang Lou Shenghai Yuan Jianfei Yang Wenju Su Yingjian Zhang Enwen Hu 83 1 0 11 Mar 2025
Handle Object Navigation as Weighted Traveling Repairman Problem Ruimeng Liu Xinhang Xu Shenghai Yuan Lihua Xie 81 2 0 10 Mar 2025
HiMo: High-Speed Objects Motion Compensation in Point Clouds Qingwen Zhang Ajinkya Khoche Yi Yang Li Ling Sina Sharif Mansouri Olov Andersson Patric Jensfelt 3DPC 238 0 0 02 Mar 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 65 3 0 17 Feb 2025
Continuous-Time State Estimation Methods in Robotics: A Survey William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas T. Barfoot Marco Hutter 74 8 0 06 Nov 2024
GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation T. Nguyen Ziyu Cao Kailai Li Shenghai Yuan Lihua Xie 60 6 0 30 Oct 2024
Robust Loop Closure by Textual Cues in Challenging Environments Tongxing Jin T. Nguyen Xinhang Xu Yizhuo Yang Shenghai Yuan Jianping Li Lihua Xie 57 6 0 21 Oct 2024
SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment Xingyu Ji Shenghai Yuan Jianping Li Pengyu Yin Haozhi Cao Lihua Xie 38 6 0 02 Oct 2024
LI-GS: Gaussian Splatting with LiDAR Incorporated for Accurate Large-Scale Reconstruction Changjian Jiang Ruilan Gao Kele Shao Yue Wang R. Xiong Yu Zhang 3DV 46 7 0 19 Sep 2024
ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges Thien-Minh Nguyen Yizhuo Yang T. Nguyen Shenghai Yuan Lihua Xie 49 4 0 17 Sep 2024
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 52 2 0 30 Jul 2024
HD-maps as Prior Information for Globally Consistent Mapping in GPS-denied Environments Waqas Ali Patric Jensfelt Thien-Minh Nguyen 37 0 0 28 Jul 2024
iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems Shuolong Chen Xingxing Li Shengyu Li Yuxuan Zhou Xiaoteng Yang 30 6 0 16 Jul 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 47 8 0 14 Jul 2024
BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps Mingkai Jia Qingwen Zhang Bowen Yang Jin Wu Mingming Liu Patric Jensfelt 47 6 0 12 May 2024
Development of Ultra-Portable 3D Mapping Systems for Emergency Services Charles Hamesse Timothée Fréville Juha Saarinen M. Vlaminck H. Luong Rob Haelterman 32 1 0 06 May 2024
Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenes Tianchen Deng Nailin Wang Chongdi Wang Shenghai Yuan Jingchuan Wang Danwei W. Wang Weidong Chen 3DV CLL 44 14 0 09 Apr 2024
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System Jianping Li Shenghai Yuan Muqing Cao Thien-Minh Nguyen Kun Cao Lihua Xie 26 26 0 21 Mar 2024
MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception Thien-Minh Nguyen Shenghai Yuan T. Nguyen Peng Yin Haozhi Cao ... Maciej K. Wozniak Patric Jensfelt Mark Thiel Justin Ziegenbein Noel Blunder 38 37 0 18 Mar 2024
PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing Jianping Li Thien-Minh Nguyen Shenghai Yuan Lihua Xie 29 10 0 10 Mar 2024
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 43 5 0 09 Mar 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 49 10 0 14 Feb 2024
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 52 13 0 09 Feb 2024
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association Thien-Minh Nguyen Xinhang Xu Tongxing Jin Yizhuo Yang Jianping Li Shenghai Yuan Lihua Xie 69 14 0 04 Feb 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 51 44 0 29 Dec 2023
Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory Xin Zheng Jianke Zhu 29 20 0 25 Sep 2023
Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning Peng Yin Haozhi Cao Thien-Minh Nguyen Shenghai Yuan Shuyang Zhang Kangcheng Liu Lihua Xie 51 14 0 16 Sep 2023
LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation Kai-Yung Huang Junqiao Zhao Zhongyan Zhu Chen Ye T. Feng 15 9 0 18 Jul 2023
A Dynamic Points Removal Benchmark in Point Cloud Maps Qingwen Zhang Daniel Duberg R. Geng Mingkai Jia Lujia Wang Patric Jensfelt 3DPC 21 16 0 14 Jul 2023
LIO-GVM: an Accurate, Tightly-Coupled Lidar-Inertial Odometry with Gaussian Voxel Map Xingyu Ji Shenghai Yuan Peng Yin Lihua Xie 20 13 0 30 Jun 2023
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry Chongjian Yuan Wei xu Xiyuan Liu Xiaoping Hong Fu Zhang 53 82 0 15 Sep 2021
CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System Jiajun Lv Kewei Hu Jinhong Xu Yong Liu Xiushui Ma Xingxing Zuo 60 45 0 10 Sep 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 46 119 0 15 Jul 2021
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach Thien-Minh Nguyen Shenghai Yuan Muqing Cao Yang Lyu T. Nguyen Lihua Xie 66 80 0 23 Oct 2020
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter Wenyuan Xu Fu Zhang 66 602 0 16 Oct 2020
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth Milad Ramezani Yiduo Wang Marco Camurri David Wisth Matías Mattamala Maurice F. Fallon 3DV 79 190 0 12 Mar 2020