64 citations · 93 across the 20 of their papers we have counts for
6 papers · 2 filters
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…
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…