107 citations · 289 across the 20 of their papers we have counts for
20 papers
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
Zhijian Qiao, Zehuan Yu, Binqian Jiang +2
This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we ext…
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap
Zhijian Qiao, Zehuan Yu, Huan Yin +1
Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between…
Online Monocular Lane Mapping Using Catmull-Rom Spline
Zhijian Qiao, Zehuan Yu, Huan Yin +1
In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique mo…
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes
Zehuan Yu, Zhijian Qiao, Liuyang Qiu +2
In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of wide…
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR s…
Semantic localization on BIM-generated maps using a 3D LiDAR sensor
Huan Yin, Zhiyi Lin, Justin K. W. Yeoh
Conventional sensor-based localization relies on high-precision maps, which are generally built using specialized mapping techniques involving high labor and computational costs. I…
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
Sha Lu, Xuecheng Xu, Huan Yin +3
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation a…
PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes
Haozhe Wang, Zhiyang Liu, Lei Zhou +2
Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well…
Improved Radar Localization on Lidar Maps Using Shared Embedding
Huan Yin, Yue Wang, Rong Xiong
We present a heterogeneous localization framework for solving radar global localization and pose tracking on pre-built lidar maps. To bridge the gap of sensing modalities, deep neu…
Neural Motion Prediction for In-flight Uneven Object Catching
Hongxiang Yu, Dashun Guo, Huan Yin +4
In-flight objects capture is extremely challenging. The robot is required to complete trajectory prediction, interception position calculation and motion planning in sequence withi…
Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning
Huan Yin, Xuecheng Xu, Yue Wang +1
Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditio…
DiSCO: Differentiable Scan Context with Orientation
Xuecheng Xu, Huan Yin, Zexi Chen +2
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent yea…
RaLL: End-to-end Radar Localization on Lidar Map Using Differentiable Measurement Model
Huan Yin, Runjian Chen, Yue Wang +1
Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse…
Deep Samplable Observation Model for Global Localization and Kidnapping
Runjian Chen, Huan Yin, Yanmei Jiao +3
Global localization and kidnapping are two challenging problems in robot localization. The popular method, Monte Carlo Localization (MCL) addresses the problem by iteratively updat…
Radar-on-Lidar: metric radar localization on prior lidar maps
Huan Yin, Yue Wang, Li Tang +1
Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo sy…
Communication constrained cloud-based long-term visual localization in real time
Xiaqing Ding, Yue Wang, Li Tang +2
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to…
Multi-session Map Construction in Outdoor Dynamic Environment
Xiaqing Ding, Yue Wang, Huan Yin +2
Map construction in large scale outdoor environment is of importance for robots to robustly fulfill their tasks. Massive sessions of data should be merged to distinguish low dynami…
Laser map aided visual inertial localization in changing environment
Xiaqing Ding, Yue Wang, Dongxuan Li +3
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this pape…
LocNet: Global localization in 3D point clouds for mobile vehicles
Huan Yin, Li Tang, Xiaqing Ding +2
Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is present…