Publications (12)
Condition-Invariant and Compact Visual Place Description by Convolutional Autoencoder
Hanjing Ye, Weinan Chen, Jingwen Yu +3
Visual place recognition (VPR) in condition-varying environments is still an open problem. Popular solutions are CNN-based image descriptors, which have been shown to outperform tr…
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
Jianhao Jiao, Hexiang Wei, Tianshuai Hu +10
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. T…
ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments
Jingwen Yu, Jiayi Yang, Anjun Hu +3
Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction an…
Asymptotically Optimal Lazy Lifelong Sampling-based Algorithm for Efficient Motion Planning in Dynamic Environments
Lu Huang, Jingwen Yu, Jiankun Wang +1
The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms f…
Enhancing Glass Surface Reconstruction via Depth Prior for Robot Navigation
Jiamin Zheng, Jingwen Yu, Guangcheng Chen +1
Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent ge…
OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation
Jianhao Jiao, Changkun Liu, Jingwen Yu +4
Scalable and maintainable maps are fundamental to large-scale navigation and the long-term deployment of robots in real-world environments. However, conventional maps that explicit…