188 citations · 467 across the 39 of their papers we have counts for
16 papers · 1 filter
Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control
Fen Liu, Shenghai Yuan, Wei Meng +2
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-coop…
AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness
Yizhuo Yang, Shenghai Yuan, Muqing Cao +2
In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awarene…
Robust Loop Closure by Textual Cues in Challenging Environments
Tongxing Jin, Thien-Minh Nguyen, Xinhang Xu +4
Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work…
A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation
Thien-Minh Nguyen, Ziyu Cao, Kailai Li +5
In this paper, we propose a third-order, i.e., white-noise-on-jerk, Gaussian Process (GP) Trajectory Representation (TR) framework for continuous-time (CT) motion estimation (ME) t…
ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges
Thien-Minh Nguyen, Yizhuo Yang, Tien-Dat Nguyen +2
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In thi…
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions
Jianping Li, Qiutong Leng, Jinxing Liu +7
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These sys…
I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry
Wenlu Yu, Jie Xu, Chengwei Zhao +5
LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization method…
Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization
Ruofei Bai, Shenghai Yuan, Hongliang Guo +3
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining rel…
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System
Jianping Li, Shenghai Yuan, Muqing Cao +3
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior…
MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception
Thien-Minh Nguyen, Shenghai Yuan, Thien Hoang Nguyen +8
Perception plays a crucial role in various robot applications. However, existing well-annotated datasets are biased towards autonomous driving scenarios, while unlabelled SLAM data…
A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System
Xinhang Xu, Muqing Cao, Shenghai Yuan +3
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed meth…
Interactive Test-Time Adaptation with Reliable Spatial-Temporal Voxels for Multi-Modal Segmentation
Haozhi Cao, Yuecong Xu, Pengyu Yin +4
Multi-modal test-time adaptation (MM-TTA) adapts models to an unlabeled target domain by leveraging the complementary multi-modal inputs in an online manner. While previous MM-TTA…
PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing
Jianping Li, Thien-Minh Nguyen, Shenghai Yuan +1
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registra…
Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method
Qiuhao Li, Shenghai Yuan
In the context of rapid advancements in industrial automation, vision-based robotic grasping plays an increasingly crucial role. In order to enhance visual recognition accuracy, th…
MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats
Shenghai Yuan, Yizhuo Yang, Thien Hoang Nguyen +6
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we i…
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association
Thien-Minh Nguyen, Xinhang Xu, Tongxing Jin +4
In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO alg…