12 citations · 24 across the 8 of their papers we have counts for
8 papers
SG-Reg: Generalizable and Efficient Scene Graph Registration
Chuhao Liu, Zhijian Qiao, Jieqi Shi +3
This paper addresses the challenges of registering two rigid semantic scene graphs, an essential capability when an autonomous agent needs to register its map against a remote agen…
SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building
Haoming Huang, Zhijian Qiao, Zehuan Yu +4
Existing indoor SLAM datasets primarily focus on robot sensing, often lacking building architectures. To address this gap, we design and construct the first dataset to couple the S…
Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform
Zhijian Qiao, Haoming Huang, Chuhao Liu +4
Light detection and ranging (LiDAR) point clouds and building information modeling (BIM) represent two distinct data modalities in the fields of robot perception and construction.…
FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models
Chuhao Liu, Ke Wang, Jieqi Shi +2
Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead…
Towards View-invariant and Accurate Loop Detection Based on Scene Graph
Chuhao Liu, Shaojie Shen
Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semanti…
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
Luqi Wang, Boyu Zhou, Chuhao Liu +1
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest p…