Search Results for author: Xuecheng Xu

Found 13 papers, 8 papers with code

Leveraging BEV Representation for 360-degree Visual Place Recognition

1 code implementation23 May 2023 Xuecheng Xu, Yanmei Jiao, Sha Lu, Xiaqing Ding, Rong Xiong, Yue Wang

In addition, the image and point cloud cues can be easily stated in the same coordinates, which benefits sensor fusion for place recognition.

Sensor Fusion Visual Place Recognition

RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map

1 code implementation12 Oct 2022 Xuecheng Xu, Sha Lu, Jun Wu, Haojian Lu, Qiuguo Zhu, Yiyi Liao, Rong Xiong, Yue Wang

In addition, we derive sufficient conditions of feature extractors for the representation preserving the roto-translation invariance, making RING++ a framework applicable to generic multi-channel features.


DPCN++: Differentiable Phase Correlation Network for Versatile Pose Registration

no code implementations12 Jun 2022 Zexi Chen, Yiyi Liao, Haozhe Du, Haodong Zhang, Xuecheng Xu, Haojian Lu, Rong Xiong, Yue Wang

Next, the rotation, scale, and translation are independently and efficiently estimated in the spectrum step-by-step using the DPC solver.


Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud

no code implementations2 Mar 2022 Xiaqing Ding, Xuecheng Xu, Sha Lu, Yanmei Jiao, Mengwen Tan, Rong Xiong, Huanjun Deng, Mingyang Li, Yue Wang

Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value.

Point Cloud Registration Translation

Learning Interpretable BEV Based VIO without Deep Neural Networks

no code implementations25 Sep 2021 Zexi Chen, Haozhe Du, Xuecheng Xu, Rong Xiong, Yiyi Liao, Yue Wang

Specifically, we first adopt Unscented Kalman Filter as a differentiable layer to predict the pitch and roll, where the covariance matrices of noise are learned to filter out the noise of the IMU raw data.

Autonomous Driving Pose Estimation

Learn to Differ: Sim2Real Small Defection Segmentation Network

1 code implementation7 Mar 2021 Zexi Chen, Zheyuan Huang, Yunkai Wang, Xuecheng Xu, Yue Wang, Rong Xiong

In this paper, we propose the network SSDS that learns a way of distinguishing small defections between two images regardless of the context, so that the network can be trained once for all.

Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning

1 code implementation30 Jan 2021 Huan Yin, Xuecheng Xu, Yue Wang, Rong Xiong

Place recognition is critical for both offline mapping and online localization.

CORAL: Colored structural representation for bi-modal place recognition

no code implementations22 Nov 2020 Yiyuan Pan, Xuecheng Xu, Weijie Li, Yunxiang Cui, Yue Wang, Rong Xiong

In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic representation, namely CORAL.

Visual Place Recognition

PREGAN: Pose Randomization and Estimation for Weakly Paired Image Style Translation

1 code implementation31 Oct 2020 Zexi Chen, Jiaxin Guo, Xuecheng Xu, Yunkai Wang, Yue Wang, Rong Xiong

Utilizing the trained model under different conditions without data annotation is attractive for robot applications.

object-detection Object Detection +4

DiSCO: Differentiable Scan Context with Orientation

1 code implementation21 Oct 2020 Xuecheng Xu, Huan Yin, Zexi Chen, Yue Wang, Rong Xiong

In this paper, we propose a LiDAR-based place recognition method, named Differentiable Scan Context with Orientation (DiSCO), which simultaneously finds the scan at a similar place and estimates their relative orientation.

Pose Estimation Robot Navigation

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