64 citations · 93 across the 20 of their papers we have counts for
21 papers
Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Yueteng Yang, Yusen Xie, Hao Wei +5
Multi-camera visual-inertial odometry (VIO) overcomes the inherent limitations of pure visual systems by expanding the field of view. However, existing algorithms are typically tai…
FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry with Sensor Calibration
Hao Wei, Peiji Wang, Qianhao Wang +3
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions,…
LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping
Lijie Wang, Lianjie Guo, Ziyi Xu +3
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial vis…
FastViDAR: Real-Time Omnidirectional Depth Estimation via Alternative Hierarchical Attention
Hangtian Zhao, Xiang Chen, Yizhe Li +3
In this paper we propose FastViDAR, a novel framework that takes four fisheye camera inputs and produces a full depth map along with per-camera depth, fusion depth, and…
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
Flying on Point Clouds with Reinforcement Learning
Guangtong Xu, Tianyue Wu, Zihan Wang +2
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine on…
Contact-Aware Motion Planning Among Movable Objects
Haokun Wang, Qianhao Wang, Fei Gao +1
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the…
Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments
Long Xu, Kaixin Chai, Boyuan An +11
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers…
LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
Kaixin Chai, Long Xu, Qianhao Wang +3
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots…
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
Tianyue Wu, Gongye Zaitian, Qianhao Wang +1
This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…
Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios
Yuman Gao, Jialin Ji, Qianhao Wang +7
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground…
Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning
Shuang Geng, Qianhao Wang, Lei Xie +3
For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either op…
Polynomial-based Online Planning for Autonomous Drone Racing in Dynamic Environments
Qianhao Wang, Dong Wang, Chao Xu +2
In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the cha…
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Qianhao Wang, Zhepei Wang, Liuao Pei +2
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…
GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation
Qianhao Wang, Botao He, Zhiren Xun +2
Gaze is an intuitive and direct way to represent the intentions of an individual. However, when it comes to assistive aerial teleoperation which aims to perform operators' intentio…
Visibility-aware Trajectory Optimization with Application to Aerial Tracking
Qianhao Wang, Yuman Gao, Jialin Ji +2
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to t…
Autonomous Flights in Dynamic Environments with Onboard Vision
Yingjian Wang, Jialin Ji, Qianhao Wang +2
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion…
Generating Large Convex Polytopes Directly on Point Clouds
Xingguang Zhong, Yuwei Wu, Dong Wang +3
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clo…
Learning-based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments
Lizi Wang, Hongkai Ye, Qianhao Wang +3
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice…