Estimating the rigid transformation between two LiDAR scans through putative 3D
correspondences is a typical point cloud registration paradigm. Current 3D feature matching …

Drift-free localization is essential for autonomous vehicles. In this letter, we address the
problem by proposing a filter-based framework, which integrates the visual-inertial odometry …

Point set registration is an essential technique in the field of machine vision. In this article,
we propose a robust global optimal solution to for the point set registration of feature points …

With the rapid development of fully automatic operation (FAO) and location-based services,
the evaluation criteria of average localization accuracy can no longer meet our demands, in …

Map-based localization is crucial for the autonomous movement of robots as it provides real-
time positional feedback. However, existing VINS and SLAM systems cannot be directly …

Point cloud registration is challenging in the presence of heavy outlier correspondences.
This paper focuses on addressing the robust correspondence-based registration problem …