ImMesh: An Immediate LiDAR Localization and Meshing Framework

1 code implementation • 12 Jan 2023 • Jiarong Lin, Chongjiang Yuan, Yixi Cai, Haotian Li, Yunfan Ren, Yuying Zou, Xiaoping Hong, Fu Zhang

This voxel-wise meshing operation is delicately designed for the purpose of efficiency; it first performs a dimension reduction by projecting 3D points to a 2D local plane contained in the voxel, and then executes the meshing operation with pull, commit and push steps for incremental reconstruction of triangle facets.

Dimensionality Reduction

STD: Stable Triangle Descriptor for 3D place recognition

1 code implementation • 26 Sep 2022 • Chongjian Yuan, Jiarong Lin, Zuhao Zou, Xiaoping Hong, Fu Zhang

For a triangle, its shape is uniquely determined by the length of the sides or included angles.

3D Place Recognition

R$^3$LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator

1 code implementation • 8 Sep 2022 • Jiarong Lin, Fu Zhang

The LIO subsystem utilizes the measurements from a LiDAR for reconstructing the geometric structure (i. e., the positions of 3D points), while the VIO subsystem simultaneously recovers the radiance information of the geometric structure from the input images.

Self-Driving Cars Simultaneous Localization and Mapping

R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

3 code implementations • 10 Sep 2021 • Jiarong Lin, Fu Zhang

Moreover, to make R3LIVE more extensible, we develop a series of offline utilities for reconstructing and texturing meshes, which further minimizes the gap between R3LIVE and various of 3D applications such as simulators, video games and etc (see our demos video).

Sensor Fusion

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

1 code implementation • 24 Feb 2021 • Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang

Our proposed framework is composed of two parts: the filter-based odometry and factor graph optimization.

Robotics

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

1 code implementation • 3 Jul 2020 • Jiarong Lin, Xiyuan Liu, Fu Zhang

To improve the system robustness and performance in self-localization and mapping, we develop a decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs.

Robotics

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

2 code implementations • 25 Sep 2019 • Jiarong Lin, Fu Zhang

This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM).

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

2 code implementations • 15 Sep 2019 • Jiarong Lin, Fu Zhang

LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision, high-resolution maps of the surrounding environment.

Autonomous Navigation

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

1 code implementation • 21 Mar 2019 • Jiarong Lin, Luqi Wang, Fei Gao, Shaojie Shen, Fu Zhang

To this end, we propose an end-to-end policy network, which imitates from the traditional pipeline and is fine-tuned using reinforcement learning.

Robotics