3 citations · 8 across the 16 of their papers we have counts for
11 papers · 1 filter
World SLAM Model: Joint World Modeling for SLAM and Navigation
Minghui Qin, Yijun Yuan, Weicheng Zheng +7
We introduce World SLAM Model (WSM), a unified framework that brings the SLAM paradigm directly into downstream navigation. Rather than treating SLAM merely as an upstream module t…
Indirect Point Cloud Registration: Aligning Distance Fields using a Pseudo Third Point Ses
Yijun Yuan, Andreas Nuechter
In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstru…
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…
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…
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…
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…
Configuration-Space Flipper Planning for Rescue Robots
Yijun Yuan, Letong Wang, Sören Schwertfeger
For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by ei…
Fast Gaussian Process Occupancy Maps
Yijun Yuan, Haofei Kuang, Sören Schwertfeger
In this paper, we demonstrate our work on Gaussian Process Occupancy Mapping (GPOM). We concentrate on the inefficiency of the frame computation of the classical GPOM approaches. I…
Topological Area Graph Generation and its Application to Path Planning
Jiawei Hou, Yijun Yuan, Sören Schwertfeger
Representing a scanned map of the real environment as a topological structure is an important research in robotics. %is currently an important research. Since topological represent…
Incrementally Building Topology Graphs via Distance Maps
Yijun Yuan, Sören Schwertfeger
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build t…