15 citations · 50 across the 11 of their papers we have counts for
11 papers
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits
Siddharth Ancha, Gaurav Pathak, Ji Zhang +2
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we…
MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position
Jingtian Yan, Xingqiao Lin, Zhongqiang Ren +6
Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as rob…
iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images
Peng Yin, Ivan Cisneros, Ji Zhang +2
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant mo…
RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learning
Xinjie Yao, Ji Zhang, Jean Oh
Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users high-level navigation plans. To find such a path, vehicles negot…
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
Ivan Cisneros, Peng Yin, Ji Zhang +2
We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The da…
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments
Peng Yin, Haowen Lai, Shiqi Zhao +4
We present AutoMerge, a LiDAR data processing framework for assembling a large number of map segments into a complete map. Traditional large-scale map merging methods are fragile t…
ALITA: A Large-scale Incremental Dataset for Long-term Autonomy
Peng Yin, Shiqi Zhao, Ruohai Ge +5
For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readi…
Autonomous Exploration Development Environment and the Planning Algorithms
Chao Cao, Hongbiao Zhu, Fan Yang +4
Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete aut…
FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update
Fan Yang, Chao Cao, Hongbiao Zhu +2
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to u…
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions
Peng Yin, Lingyun Xu, Ji Zhang +2
We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invar…
Following Social Groups: Socially Compliant Autonomous Navigation in Dense Crowds
Xinjie Yao, Ji Zhang, Jean Oh
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is ch…