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.
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.
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.
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).
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
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
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).
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.
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