6 citations · 12 across the 5 of their papers we have counts for
4 papers · 1 filter
Graph Gain: A Concave-Hull Based Volumetric Gain for Robotic Exploration
Zezhou Sun, Huajun Liu, Chengzhong Xu +1
The existing volumetric gain for robotic exploration is calculated in the 3D occupancy map, while the sampling-based exploration method is extended in the reachable (free) space. T…
Ada-Detector: Adaptive Frontier Detector for Rapid Exploration
Zezhou Sun, Banghe Wu, Chengzhong Xu +1
In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. Robots can achieve real-time…
LiDAR Iris for Loop-Closure Detection
Ying Wang, Zezhou Sun, Cheng-Zhong Xu +3
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained fo…
PuzzleFlex: kinematic motion of chains with loose joints
Samuel Lensgraf, Karim Itani, Yinan Zhang +7
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which ar…