188 citations · 467 across the 39 of their papers we have counts for
9 papers · 1 filter
MoPA: Multi-Modal Prior Aided Domain Adaptation for 3D Semantic Segmentation
Haozhi Cao, Yuecong Xu, Jianfei Yang +3
Multi-modal unsupervised domain adaptation (MM-UDA) for 3D semantic segmentation is a practical solution to embed semantic understanding in autonomous systems without expensive poi…
Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning
Pengyu Yin, Haozhi Cao, Thien-Minh Nguyen +4
One-shot LiDAR localization refers to the ability to estimate the robot pose from one single point cloud, which yields significant advantages in initialization and relocalization p…
Path Planning for Multiple Tethered Robots Using Topological Braids
Muqing Cao, Kun Cao, Shenghai Yuan +3
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on…
LIO-GVM: an Accurate, Tightly-Coupled Lidar-Inertial Odometry with Gaussian Voxel Map
Xingyu Ji, Shenghai Yuan, Pengyu Yin +1
This letter presents an accurate and robust Lidar Inertial Odometry framework. We fuse LiDAR scans with IMU data using a tightly-coupled iterative error state Kalman filter for rob…
MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing
Jianfei Yang, He Huang, Yunjiao Zhou +6
4D human perception plays an essential role in a myriad of applications, such as home automation and metaverse avatar simulation. However, existing solutions which mainly rely on c…
VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors
Thien Hoang Nguyen, Shenghai Yuan, Lihua Xie
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a mu…
DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels
Muqing Cao, Xinhang Xu, Shenghai Yuan +3
We present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels…
Multi-Modal Continual Test-Time Adaptation for 3D Semantic Segmentation
Haozhi Cao, Yuecong Xu, Jianfei Yang +3
Continual Test-Time Adaptation (CTTA) generalizes conventional Test-Time Adaptation (TTA) by assuming that the target domain is dynamic over time rather than stationary. In this pa…
Segregator: Global Point Cloud Registration with Semantic and Geometric Cues
Pengyu Yin, Shenghai Yuan, Haozhi Cao +3
This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robus…