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FAST-LIO2: Fast Direct LiDAR-inertial Odometry


Jul 14, 2021
Wei Xu, Yixi Cai, Dongjiao He, Jiarong Lin, Fu Zhang


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Model Predictive Control for Trajectory Tracking on Differentiable Manifolds


Jun 29, 2021
Guozheng Lu, Wei Xu, Fu Zhang


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Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks


Apr 05, 2021
Jinni Zhou, Hao Xu, Zexiang Li, Shaojie Shen, Fu Zhang


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Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments


Mar 02, 2021
Chongjian Yuan, Xiyuan Liu, Xiaoping Hong, Fu Zhang

* 8 pages, 20 figures 

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Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots


Feb 28, 2021
Fanze Kong, Wei Xu, Fu Zhang

* 8 pages, 12 figures 

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R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping


Feb 24, 2021
Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang


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ikd-Tree: An Incremental K-D Tree for Robotic Applications


Feb 22, 2021
Yixi Cai, Wei Xu, Fu Zhang


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Embedding manifold structures into Kalman filters


Feb 07, 2021
Dongjiao He, Wei Xu, Fu Zhang


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BALM: Bundle Adjustment for Lidar Mapping


Oct 16, 2020
Zheng Liu, Fu Zhang

* 8 pages, 10 figures, conference 

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FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter


Oct 16, 2020
Wei Xu, Fu Zhang


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Robots State Estimation and Observability Analysis Based on Statistical Motion Models


Oct 12, 2020
Wei Xu, Dongjiao He, Yixi Cai, Fu Zhang


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A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs


Jul 03, 2020
Jiarong Lin, Xiyuan Liu, Fu Zhang

* Accepted by IROS2020 

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Consolidating Commonsense Knowledge


Jun 22, 2020
Filip Ilievski, Pedro Szekely, Jingwei Cheng, Fu Zhang, Ehsan Qasemi

* 14 pages 

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Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning


Jun 19, 2020
Zheng Liu, Fu Zhang, Xiaoping Hong

* 12 pages, 16 figures,journal 

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Hybrid aerial ground locomotion with a single passive wheel


Mar 20, 2020
Youming Qin, Yihang Li, Xu Wei, Fu Zhang


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A fast, complete, point cloud based loop closure for LiDAR odometry and mapping


Sep 25, 2019
Jiarong Lin, Fu Zhang


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Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV


Sep 15, 2019
Jiarong Lin, Fu Zhang


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Flying through a narrow gap using neural network: an end-to-end planning and control approach


Mar 21, 2019
Jiarong Lin, Luqi Wang, Fei Gao, Shaojie Shen, Fu Zhang

* Under review as a conference paper at IROS 2019 

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Detecting facial landmarks in the video based on a hybrid framework


Sep 21, 2016
Nian Cai, Zhineng Lin, Fu Zhang, Guandong Cen, Han Wang

* 8 pages, 5 figures, unpublished manuscript 

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