181 citations · 244 across the 16 of their papers we have counts for
5 papers · 1 filter
SSMG-Nav: Enhancing Lifelong Object Navigation with Semantic Skeleton Memory Graph
Haochen Niu, Lantao Zhang, Xingwu Ji +3
Navigating to out-of-sight targets from human instructions in unfamiliar environments is a core capability for service robots. Despite substantial progress, most approaches underut…
An Online Adaptation Method for Robust Depth Estimation and Visual Odometry in the Open World
Xingwu Ji, Haochen Niu, Dexin Duan +3
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a m…
A Skeleton-Based Topological Planner for Exploration in Complex Unknown Environments
Haochen Niu, Xingwu Ji, Lantao Zhang +3
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved m…
A life-long SLAM approach using adaptable local maps based on rasterized LIDAR images
Waqas Ali, Peilin Liu, Rendong Ying +1
Most real-time autonomous robot applications require a robot to traverse through a dynamic space for a long time. In some cases, a robot needs to work in the same environment. Such…
6-DOF Feature based LIDAR SLAM using ORB Features from Rasterized Images of 3D LIDAR Point Cloud
Waqas Ali, Peilin Liu, Rendong Ying +1
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection f…