23 citations · 89 across the 33 of their papers we have counts for
33 papers
The SLAM Hive Benchmarking Suite
Yuanyuan Yang, Bowen Xu, Yinjie Li +1
Benchmarking Simultaneous Localization and Mapping (SLAM) algorithms is important to scientists and users of robotic systems alike. But through their many configuration options in…
CP+: Camera Poses Augmentation with Large-scale LiDAR Maps
Jiadi Cui, Sören Schwertfeger
Large-scale colored point clouds have many advantages in navigation or scene display. Relying on cameras and LiDARs, which are now widely used in reconstruction tasks, it is possib…
Cluster on Wheels
Yuanyuan Yang, Delin Feng, Sören Schwertfeger
This paper presents a very compact 16-node cluster that is the core of a future robot for collecting and storing massive amounts of sensor data for research on Simultaneous Localiz…
Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
Yifu Wang, Wenqing Jiang, Kun Huang +2
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of ov…
Hierarchical Topometric Representation of 3D Robotic Maps
Zhenpeng He, Hao Sun, Jiawei Hou +2
In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - r…
Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing
Xianglong Tan, Zhikang Liu, Chen Yu +1
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy and to survive in uncertain environments. In this work, we pre…
Video Contrastive Learning with Global Context
Haofei Kuang, Yi Zhu, Zhi Zhang +5
Contrastive learning has revolutionized self-supervised image representation learning field, and recently been adapted to video domain. One of the greatest advantages of contrastiv…
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…
Advanced Mapping Robot and High-Resolution Dataset
Hongyu Chen, Zhijie Yang, Xiting Zhao +8
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine h…
Self-supervised Point Set Local Descriptors for Point Cloud Registration
Yijun Yuan, Jiawei Hou, Andreas Nüchter +1
In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabele…
Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence
Yijun Yuan, Dorit Borrmann, Andreas Nüchter +1
In this work, we propose to directly find the one-step solution for the point set registration problem without correspondences. Inspired by the Kernel Correlation method, we consid…
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…
Room Detection for Topological Maps
Sören Schwertfeger, Tianyan Yu
Mapping is an important part of many robotic applications. In order to measure the performance of the mapping process we have to measure the quality of its result: the map. The map…
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…
Fast 2D Map Matching Based on Area Graphs
Jiawei Hou, Haofei Kuang, Sören Schwertfeger
We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on s…
Fine-grained Qualitative Spatial Reasoning about Point Positions
Sören Schwertfeger
The ability to persist in the spacial environment is, not only in the robotic context, an essential feature. Positional knowledge is one of the most important aspects of space and…
Furniture Free Mapping using 3D Lidars
Zhenpeng He, Jiawei Hou, Sören Schwertfeger
Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furnitur…
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…
Area Graph: Generation of Topological Maps using the Voronoi Diagram
Jiawei Hou, Yijun Yuan, Sören Schwertfeger
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amou…
Mapping with Reflection -- Detection and Utilization of Reflection in 3D Lidar Scans
Xiting Zhao, Zhijie Yang, Sören Schwertfeger
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight.…
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
Jianxiong Cai, Jiawei Hou, Yiren Lu +3
In this paper, we focus on the question: how might mobile robots take advantage of affordable RGB-D sensors for object detection? Although current CNN-based object detectors have a…
Path Planning Tolerant to Degraded Locomotion Conditions
Xiaoling Long, Sören Schwertfeger
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loos…
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…