45 citations · 52 across the 10 of their papers we have counts for
10 papers
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography
Bowen Yang, Jie Cheng, Bohuan Xue +2
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and ex…
Three-Filters-to-Normal+: Revisiting Discontinuity Discrimination in Depth-to-Normal Translation
Jingwei Yang, Bohuan Xue, Yi Feng +3
This article introduces three-filters-to-normal+ (3F2N+), an extension of our previous work three-filters-to-normal (3F2N), with a specific focus on incorporating discontinuity dis…
D2NT: A High-Performing Depth-to-Normal Translator
Yi Feng, Bohuan Xue, Ming Liu +2
Surface normal holds significant importance in visual environmental perception, serving as a source of rich geometric information. However, the state-of-the-art (SoTA) surface norm…
Monocular Camera Mapping with Pose-Guided Optimization: Enhancing Marking-Level HD Map Accuracy
Hongji Liu, Linwei Zheng, Xiaoyang Yan +4
Marking-level high-definition maps (HD maps) are of great significance for autonomous vehicles (AVs), especially in large-scale, appearance-changing scenarios where AVs rely on mar…
Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator
Rui Fan, Hengli Wang, Bohuan Xue +4
This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/dispar…
Road Curb Detection Using A Novel Tensor Voting Algorithm
Yilong Zhu, Dong Han, Bohuan Xue +4
Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this…
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…
Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape
Bohuan Xue, Jianhao Jiao, Yilong Zhu +4
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has br…
Low-Cost GPS-Aided LiDAR State Estimation and Map Building
Linwei Zheng, Yilong Zhu, Bohuan Xue +2
Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR s…
Real-Time, Environmentally-Robust 3D LiDAR Localization
Yilong Zhu, Bohuan Xue, Linwei Zheng +3
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment usin…