154 citations · 712 across the 31 of their papers we have counts for
15 papers · 1 filter
SLAMesh: Real-time LiDAR Simultaneous Localization and Meshing
Jianyuan Ruan, Bo Li, Yibo Wang +1
Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dens…
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…
Incorporating Learnt Local and Global Embeddings into Monocular Visual SLAM
Huaiyang Huang, Haoyang Ye, Yuxiang Sun +2
Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the…
DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networks
Peide Cai, Hengli Wang, Yuxiang Sun +1
Autonomous driving in multi-agent dynamic traffic scenarios is challenging: the behaviors of road users are uncertain and are hard to model explicitly, and the ego-vehicle should a…
End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Driving
Hengli Wang, Peide Cai, Rui Fan +2
With the recent advancement of deep learning technology, data-driven approaches for autonomous car prediction and planning have achieved extraordinary performance. Nevertheless, mo…
S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs
Hengli Wang, Yuxiang Sun, Rui Fan +1
Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based…
Autonomous Navigation through intersections with Graph ConvolutionalNetworks and Conditional Imitation Learning for Self-driving Cars
Xiaodong Mei, Yuxiang Sun, Yuying Chen +2
In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we pro…
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…
DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks
Peide Cai, Hengli Wang, Yuxiang Sun +1
Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to mainta…
GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models
Huaiyang Huang, Haoyang Ye, Yuxiang Sun +1
Incorporating prior structure information into the visual state estimation could generally improve the localization performance. In this letter, we aim to address the paradox betwe…
Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments with Multimodal Sensor Fusion
Peide Cai, Sukai Wang, Yuxiang Sun +1
All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. R…
Metric Monocular Localization Using Signed Distance Fields
Huaiyang Huang, Yuxiang Sun, Haoyang Ye +1
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to in…
High-speed Autonomous Drifting with Deep Reinforcement Learning
Peide Cai, Xiaodong Mei, Lei Tai +2
Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics,…
Robust Lane Marking Detection Algorithm Using Drivable Area Segmentation and Extended SLT
Umar Ozgunalp, Rui Fan, Shanshan Cheng +7
In this paper, a robust lane detection algorithm is proposed, where the vertical road profile of the road is estimated using dynamic programming from the v-disparity map and, based…
Movable-Object-Aware Visual SLAM via Weakly Supervised Semantic Segmentation
Ting Sun, Yuxiang Sun, Ming Liu +1
Moving objects can greatly jeopardize the performance of a visual simultaneous localization and mapping (vSLAM) system which relies on the static-world assumption. Motion removal h…