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Contact
PhD student, Technische Universität München
Fakultät für Informatik
Boltzmannstr. 3
85748 Garching b. München
Germany
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Room: MI 03.13.035 |
Email: yanyan.li@tum.de |
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News
- Oct 15 (2020): 1 Paper pushed to arXiv
- Sep 9 (2020): 1 Paper accepted to RA-L
- Jul 2 (2020): 1 Paper accepted to RA-L/IROS' 20
Student Project
Feel free to contact me if you're interested in a bachelor's or master's thesis related to my research areas.
Teaching
Research topics
- Camera pose estimation for robots and autonomous-driving cars based on geometric and learning methods.
- Geometric prediction and understanding.
Publications
TOPIC: Indoor SLAM [slides]
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments
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We present a low-drift monocular SLAM method targeting indoor scenarios. Our approach decouples rotation and translation estimation of the tracking process to reduce the long-term drift in indoor environments.
Co-Planar Parametrization for Stereo-SLAM and Visual-Inertial Odometry
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This work builds an efficient and robust parametrization for co-planar points&lines, which leverages specific geometric constraints to improve camera pose optimization in terms of both efficiency and accuracy.
RGB-D SLAM with Structural Regularities
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This work builds a SLAM architecture for RGB-D sensors, which makes use of structure regularities of indoor scenes and provides accurate pose estimation and compact mesh on a CPU.