10 citations · 11 across the 8 of their papers we have counts for
8 papers
Improved Visual-Inertial Localization for Low-cost Rescue Robots
Xiaoling Long, Qingwen Xu, Yijun Yuan +2
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimatio…
Comparison and Evaluation of 2D and 3D Range Sensors
Qingwen Xu, Sören Schwertfeger
For mobile robots range sensors are important to perceive the environment. Sensors that can measure in a 3D volume are especially significant for outdoor robotics, because this env…
Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots
Xiangyang Zhi, Qingwen Xu, Sören Schwertfeger
Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have…
Pose Estimation for Omni-directional Cameras using Sinusoid Fitting
Haofei Kuang, Qingwen Xu, Xiaoling Long +1
We propose a novel pose estimation method for geometric vision of omni-directional cameras. On the basis of the regularity of the pixel movement after camera pose changes, we formu…
Configuration-Space Flipper Planning on 3D Terrain
Yijun Yuan, Qingwen Xu, Sören Schwertfeger
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescu…
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
Arturo Gomez Chavez, Qingwen Xu, Christian A. Mueller +2
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is…
Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network
Haofei Kuang, Qingwen Xu, Sören Schwertfeger
In this work, we exploit a depth estimation Fully Convolutional Residual Neural Network (FCRN) for in-air perspective images to estimate the depth of underwater perspective and omn…
Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-cameras
Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow +2
Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved faster, more robust and accurate than feature based methods on image registration. Howev…