哈尔滨工业大学（深圳）学术讲座

演讲人Speaker: Fangcheng Zhu

题目Title: LiDAR-based Calibration and State Estimation in Autonomous Unmanned Aerial Vehicles and Aerial Swarm Systems

时间Date:  2024年12月9日  Time: 16：00-18:00

地点Venue：H404

内容摘要Abstract:

State estimation (or SLAM) serves as a prerequisite for autonomous UAVs and aerial swarm systems to perform complex tasks. Most previous approaches have utilized cameras or GNSS modules as the primary sensors for UAV systems. However, cameras may fail in low-light conditions or large outdoor scenes, while GNSS signals can be lost in indoor environments or underground mines, posing significant challenges for robust state estimation. In contrast, LiDAR offers advantages such as long-range measurement, high accuracy, and resilience in dark environments, making it a promising candidate for facilitating robust and precise perception and state estimation in drone and aerial swarm systems. We propose a calibration framework that enables real-time, fast, and efficient calibration of the extrinsic parameters and time offset of LiDAR and IMU, and also propose several SLAM algorithms to assist single UAV and aerial swarm systems in achieving robust and precise state estimation.

个人简介（About the Speaker）:

Fangcheng Zhu received the B.E. degree in automation in 2021 from the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. He is currently a Ph.D. student in robotics with the Department of Mechanical Engineering, University of Hong Kong (HKU), Hong Kong, China. He has published a total of 15 academic papers in top-tier robotics journals and conferences, including T-RO, Science Robotics, RA-L, ICRA, and IROS, among which he is the first author or co-first author on 6 papers. He has also served as a reviewer for journals and conferences such as TIV, TIM, RA-L, ICRA, and IROS for an extended period. His research interests include LiDAR-based state estimation, simultaneous locali-zation and mapping (SLAM), sensor calibration, and aerial swarm systems.