Author

Xia Ning

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Jul 2026

WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

WNOJ-LIO is presented, a LiDAR-IMU fusion framework based on a White-Noise-on-Jerk (WNOJ) Extended Kalman Filter (EKF) that employs a decoupled WNOJ prior on $\R^3 \times \SO(3)$ for state prediction and treats the IMU as a high-frequency measurement source rather than the driver of state propagation.

Junning Lyu, Qi-Zhi Guo, Xia Ning et al. · arXiv.org · 0 citations

Jul 2026

A2RL Vmax: The A2RL autonomous racing dataset for long-range, high-speed perception and multi-vehicle interaction

This work introduces the A2RL V\textsubscript{max} open-source dataset, specifically designed for perception tasks in high-speed autonomous driving and multi-vehicle interaction, and is the first large-scale dataset in autonomous racing to feature professionally annotated LiDAR point clouds, enabling deep learning-base...

Marvin Klemp, Dominic Ebner, Cornelius Schröder et al. · arXiv.org · 0 citations