107 citations · 465 across the 85 of their papers we have counts for
64 papers · 1 filter
3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion
Yanmei Jiao, Binxin Zhang, Peng Jiang +3
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization…
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Ke Qiu, Jingyu Zhang, Danying Sun +3
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics probl…
Learning adaptive manipulation of objects with revolute joint: A case study on varied cabinet doors opening
Hongxiang Yu, Dashun Guo, Zhongxiang Zhou +2
This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on var…
Zero-shot Transfer Learning of Driving Policy via Socially Adversarial Traffic Flow
Dongkun Zhang, Jintao Xue, Yuxiang Cui +6
Acquiring driving policies that can transfer to unseen environments is challenging when driving in dense traffic flows. The design of traffic flow is essential and previous studies…
A Hyper-network Based End-to-end Visual Servoing with Arbitrary Desired Poses
Hongxiang Yu, Anzhe Chen, Kechun Xu +4
Recently, several works achieve end-to-end visual servoing (VS) for robotic manipulation by replacing traditional controller with differentiable neural networks, but lose the abili…
Object-centric Inference for Language Conditioned Placement: A Foundation Model based Approach
Zhixuan Xu, Kechun Xu, Yue Wang +1
We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructi…
NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping
Xuan Yu, Yili Liu, Sitong Mao +4
LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we pr…
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry
Fuzhang Han, Han Zheng, Wenjun Huang +3
With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention whi…
Failure-aware Policy Learning for Self-assessable Robotics Tasks
Kechun Xu, Runjian Chen, Shuqi Zhao +5
Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But…
A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter
Kechun Xu, Shuqi Zhao, Zhongxiang Zhou +4
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately…
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR s…
EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry
Bingqi Shen, Yuyin Chen, Fuzhang Han +3
To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted m…
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map
Xuecheng Xu, Sha Lu, Jun Wu +5
Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seaso…
C^2:Co-design of Robots via Concurrent Networks Coupling Online and Offline Reinforcement Learning
Ci Chen, Pingyu Xiang, Haojian Lu +2
With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven me…
Efficient Distance-Optimal Tethered Path Planning in Planar Environments: The Workspace Convexity
Tong Yang, Rong Xiong, Yue Wang
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurat…
Efficient Search of the k Shortest Non-Homotopic Paths by Eliminating Non-k-Optimal Topologies
Tong Yang, Li Huang, Yue Wang +1
An efficient algorithm to solve the shortest non-homotopic path planning (-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the ineffic…
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
Shenhan Jia, Yanmei Jiao, Zhuqing Zhang +2
In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO methods suffer from localization drift over long trajectories. In this paper,…
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
Liang Xie, Hongxiang Yu, Kechun Xu +5
This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal…
Map-based Visual-Inertial Localization: Consistency and Complexity
Zhuqing Zhang, Yanmei Jiao, Shoudong Huang +2
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odom…
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design
Zhuqing Zhang, Yang Song, Shoudong Huang +2
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a n…
Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World
Liang Xie, Hongxiang Yu, Yinghao Zhao +5
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we…
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
Sha Lu, Xuecheng Xu, Huan Yin +3
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation a…
DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-aware Flow
Xin Jing, Xiaqing Ding, Rong Xiong +2
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calib…
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud
Xiaqing Ding, Xuecheng Xu, Sha Lu +6
Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid…