6 citations · 20 across the 23 of their papers we have counts for
25 papers
Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems
Mingle Zhao, Jiahao Wang, Tianxiao Gao +2
Robust initialization is crucial for online systems. In the letter, a high-frequency and resilient initialization framework is designed for LiDAR-inertial systems, leveraging both…
Cyclops: LiDAR as a Camera That Dreams in Color
Wei Gao, Jian Shu, Mingle Zhao +4
Conventionally, robotic perception relies heavily on cameras due to the rich semantic texture they provide. However, their performance degrades significantly in low-light or high-d…
Learning 1-Bit LiDAR-based Localization with Auxiliary Objective
Kaijie Yin, Zhiyuan Zhang, Tian Gao +3
6-DoF LiDAR-based localization is a fundamental capability for autonomous systems operating in large-scale outdoor environments. Many deep-learning-based localization methods have…
Super LiDAR Intensity for Robotic Perception
Wei Gao, Jie Zhang, Mingle Zhao +6
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, whic…
Information-Bottleneck Driven Binary Neural Network for Change Detection
Kaijie Yin, Zhiyuan Zhang, Shu Kong +3
In this paper, we propose Binarized Change Detection (BiCD), the first binary neural network (BNN) designed specifically for change detection. Conventional network binarization app…
High-Fidelity Differential-information Driven Binary Vision Transformer
Tian Gao, Zhiyuan Zhang, Kaijie Yin +2
The binarization of vision transformers (ViTs) offers a promising approach to addressing the trade-off between high computational/storage demands and the constraints of edge-device…
Learning Orientation Field for OSM-Guided Autonomous Navigation
Yuming Huang, Wei Gao, Zhiyuan Zhang +4
OpenStreetMap (OSM) has gained popularity recently in autonomous navigation due to its public accessibility, lower maintenance costs, and broader geographical coverage. However, ex…
BHViT: Binarized Hybrid Vision Transformer
Tian Gao, Zhiyuan Zhang, Yu Zhang +4
Model binarization has made significant progress in enabling real-time and energy-efficient computation for convolutional neural networks (CNN), offering a potential solution to th…
Night-Voyager: Consistent and Efficient Nocturnal Vision-Aided State Estimation in Object Maps
Tianxiao Gao, Mingle Zhao, Chengzhong Xu +1
Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can lo…
UMAD: University of Macau Anomaly Detection Benchmark Dataset
Dong Li, Lineng Chen, Cheng-Zhong Xu +1
Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utiliz…
Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environments
Wei Gao, Zezhou Sun, Mingle Zhao +2
The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS t…
Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering
Tianxiao Gao, Mingle Zhao, Chengzhong Xu +1
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime en…
Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map
Yuming Huang, Yi Gu, Chengzhong Xu +1
In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of auton…
GSB: Group Superposition Binarization for Vision Transformer with Limited Training Samples
Tian Gao, Cheng-Zhong Xu, Le Zhang +1
Vision Transformer (ViT) has performed remarkably in various computer vision tasks. Nonetheless, affected by the massive amount of parameters, ViT usually suffers from serious over…
MaskRange: A Mask-classification Model for Range-view based LiDAR Segmentation
Yi Gu, Yuming Huang, Chengzhong Xu +1
Range-view based LiDAR segmentation methods are attractive for practical applications due to their direct inheritance from efficient 2D CNN architectures. In literature, most range…
Unsupervised Visible-light Images Guided Cross-Spectrum Depth Estimation from Dual-Modality Cameras
Yubin Guo, Haobo Jiang, Xinlei Qi +3
Cross-spectrum depth estimation aims to provide a depth map in all illumination conditions with a pair of dual-spectrum images. It is valuable for autonomous vehicle applications w…
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…
HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
Zhixing Hou, Yan Yan, Chengzhong Xu +1
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points an…
LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment
Banghe Wu, Chengzhong Xu, Hui Kong
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR…
Learning Moving-Object Tracking with FMCW LiDAR
Yi Gu, Hongzhi Cheng, Kafeng Wang +3
In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with…
Yaw-Guided Imitation Learning for Autonomous Driving in Urban Environments
Yandong Liu, Chengzhong Xu, Hui Kong
Existing imitation learning methods suffer from low efficiency and generalization ability when facing the road option problem in an urban environment. In this paper, we propose a y…
One Shot Face Swapping on Megapixels
Yuhao Zhu, Qi Li, Jian Wang +2
Face swapping has both positive applications such as entertainment, human-computer interaction, etc., and negative applications such as DeepFake threats to politics, economics, etc…
Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
Zezhou Sun, Banghe Wu, Cheng-Zhong Xu +3
We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detectio…