154 citations · 712 across the 31 of their papers we have counts for
10 papers · 1 filter
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…
Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots
Hengli Wang, Rui Fan, Yuxiang Sun +1
The joint detection of drivable areas and road anomalies is a crucial task for ground mobile robots. In recent years, many impressive semantic segmentation networks, which can be u…
Self-Supervised Drivable Area and Road Anomaly Segmentation using RGB-D Data for Robotic Wheelchairs
Hengli Wang, Yuxiang Sun, Ming Liu
The segmentation of drivable areas and road anomalies are critical capabilities to achieve autonomous navigation for robotic wheelchairs. The recent progress of semantic segmentati…
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…
VTGNet: A Vision-based Trajectory Generation Network for Autonomous Vehicles in Urban Environments
Peide Cai, Yuxiang Sun, Hengli Wang +1
Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios…
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…
PointTrackNet: An End-to-End Network For 3-D Object Detection and Tracking From Point Clouds
Sukai Wang, Yuxiang Sun, Chengju Liu +1
Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filte…
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,…