unsigned-long / slam-tricks Goto Github PK

I'm currently a master candidate at the School of Geodesy and Geomatics (SGG), Wuhan University (WHU). My area of research currently focuses on integrated navigation systems and multi-sensor fusion. I'm working on the continue-time-based (B-spline-based) state estimation currently 😃.

• Student at Wuhan University, E-Mail: [email protected].
• A brief introduction about me can be found here.
• I love photography, I also love writing cpp (cplusplus) and creating funny toy libraries.
• Ask me about anything here.

• RIs-Calib: a targetless continuous-time-based multi-radar multi-IMU spatiotemporal calibrator.
• River: a continuous-time-based radar-inertial velocity estimator.
• MI-Calib: a continuous-time-based imu-only multi-IMU spatiotemporal calibrator.
• iKalibr: unified targetless spatiotemporal calibration for resilient integrated inertial systems.

• iKalibr (under review 😴): a continuous-time, targetless, unified spatiotemporal calibrator. Related paper(s) 👇:

  • S. Chen, X. Li*, S. Li, Y. Zhou and X. Yang, iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems[J]. arXiv:2407.11420 [cs.RO]. [paper-arXiv] [video]

• MI-Calib: a continuous-time-based multi-IMU spatiotemporal calibrator. Related paper(s) 👇:

  • S. Chen, X. Li*, S. Li, Y. Zhou and S. Wang, "MI-Calib: An Open-Source Spatiotemporal Calibrator for Multiple IMUs Based on Continuous-Time Batch Optimization," in IEEE Robotics and Automation Letters (RA-L), 2024. [paper] [code] [video]

• River: a continuous-time-based radar-inertial velocity estimator. Related paper(s) 👇:

  • S. Chen, X. Li*, S. Li, Y. Zhou and S. Wang, "River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization," in IEEE Robotics and Automation Letters (RA-L), 2024. [paper] [code] [video]

• RIs-Calib (under review 😴): a targetless multi-radar multi-IMU spatiotemporal calibrator. Related paper(s) 👇:

  • S. Chen, X. Li*, S. Li, Y. Zhou and S. Wang, "RIs-Calib: An Open-Source Spatiotemporal Calibrator for Multiple 3D Radars And IMUs Based on Continuous-Time Estimation," in IEEE Transactions on Industrial Informatics (TII), 2024. [code] [video]

• ELIC-Calib: the extend version of LIC-Calib, a targetless continuous-time-based multi-LiDAR multi-IMU multi-camera spatiotemporal calibrator. Related paper(s) 👇:

  • S. Chen, X. Li*, S. Li, Y. Zhou and S. Wang, "Targetless Spatiotemporal Calibration for Multiple Heterogeneous Cameras And IMUs Based on Continuous-Time Trajectory Estimation," in IEEE Transactions on Instrumentation and Measurement (TIM), 2023. [paper]
  • S. Li, X. Li*, S. Chen, Y. Zhou and S. Wang, "Targetless Spatiotemporal Calibration of Multi-LiDAR Multi-IMU System Based on Continuous-Time Optimization," in IEEE Transactions on Industrial Informatics (TII), 2024. [paper]

• LIC-Calib: a targetless continuous-time-based LiDAR/IMU/Camera spatiotemporal calibrator, supporting both GS and RS cameras. Related paper(s) 👇:

  • S. Li, X. Li*, S. Chen, Y. Zhou and S. Wang, "Two-Step LiDAR/Camera/IMU Spatial And Temporal Calibration Based on Continuous-Time Trajectory Estimation," in IEEE Transactions on Industrial Electronics (TIE), 2023. [paper]
  • X. Li, S. Chen, S. Li*, Y. Zhou and S. Wang, "Accurate And Consistent Spatiotemporal Calibration for Heterogenous-Camera/IMU/LiDAR System Based on Continuous-Time Batch Estimation," in IEEE/ASME Transactions on Mechatronics (T-Mech), 2023. [paper]

So why is my nickname ULong2 😃? ULong is a data type in C++ that stands for unsigned long integer, which can store a large number, but no negative numbers are allowed. This represents my desire to explore a wide range of knowledge and a positive (non-negative) mindset. Interestingly, Long is also the pinyin for one of the Chinese characters in my name. And the number 2, yes, is my lucky number.