61 citations · 204 across the 34 of their papers we have counts for
25 papers · 1 filter
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments
Jianhao Jiao, Ruoyu Geng, Yuanhang Li +7
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges r…
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
Jianhao Jiao, Jinhao He, Changkun Liu +4
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequen…
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
Xiangcheng Hu, Jin Wu, Jianhao Jiao +4
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. Ho…
GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection
Jingwen Yu, Hanjing Ye, Jianhao Jiao +2
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited pla…
MS-Mapping: Multi-session LiDAR Mapping with Wasserstein-based Keyframe Selection
Xiangcheng Hu, Jin Wu, Jianhao Jiao +2
Large-scale multi-session LiDAR mapping is crucial for various applications but still faces significant challenges in data redundancy, memory consumption, and efficiency. This pape…
Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion
Jinhao He, Huaiyang Huang, Shuyang Zhang +3
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purp…
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments
Hexiang Wei, Jianhao Jiao, Xiangcheng Hu +7
Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalizat…
DHP-Mapping: A Dense Panoptic Mapping System with Hierarchical World Representation and Label Optimization Techniques
Tianshuai Hu, Jianhao Jiao, Yucheng Xu +3
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric a…
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography
Bowen Yang, Jie Cheng, Bohuan Xue +2
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and ex…
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
Xiangcheng Hu, Linwei Zheng, Jin Wu +7
Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions.…
Enhancing Campus Mobility: Achievements and Challenges of Autonomous Shuttle "Snow Lion''
Yingbing Chen, Jie Cheng, Sheng Wang +15
The rapid evolution of autonomous vehicles (AVs) has significantly influenced global transportation systems. In this context, we present ``Snow Lion'', an autonomous shuttle meticu…
PALoc: Robust Prior-assisted Trajectory Generation for Benchmarking
Xiangcheng Hu, Jin Wu, Jianhao Jiao +2
Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is…
LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solution
Jianhao Jiao, Feiyi Chen, Hexiang Wei +2
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame…
FAST-LIO, Then Bayesian ICP, Then GTSFM
Jerred Chen, Xiangcheng Hu, Shicong Ma +3
For the Hilti Challenge 2022, we created two systems, one building upon the other. The first system is FL2BIPS which utilizes the iEKF algorithm FAST-LIO2 and Bayesian ICP PoseSLAM…
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…
R-PCC: A Baseline for Range Image-based Point Cloud Compression
Sukai Wang, Jianhao Jiao, Peide Cai +1
In autonomous vehicles or robots, point clouds from LiDAR can provide accurate depth information of objects compared with 2D images, but they also suffer a large volume of data, wh…
On Bundle Adjustment for Multiview PointCloud Registration
Huaiyang Huang, Yuxiang Sun, Jin Wu +5
Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise…
Greedy-Based Feature Selection for Efficient LiDAR SLAM
Jianhao Jiao, Yilong Zhu, Haoyang Ye +5
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data associati…
Geometric Structure Aided Visual Inertial Localization
Huaiyang Huang, Haoyang Ye, Jianhao Jiao +2
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from d…
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Jianhao Jiao, Haoyang Ye, Yilong Zhu +1
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization…
The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation
Tianyu Liu, Qinghai Liao, Lu Gan +28
Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223…
Road Curb Detection Using A Novel Tensor Voting Algorithm
Yilong Zhu, Dong Han, Bohuan Xue +4
Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this…
Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape
Bohuan Xue, Jianhao Jiao, Yilong Zhu +4
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has br…
Key Ingredients of Self-Driving Cars
Rui Fan, Jianhao Jiao, Haoyang Ye +3
Over the past decade, many research articles have been published in the area of autonomous driving. However, most of them focus only on a specific technological area, such as visua…