188 citations · 412 across the 13 of their papers we have counts for
12 papers · 1 filter
Towards Autonomous In-situ Soil Sampling and Mapping in Large-Scale Agricultural Environments
Thien Hoang Nguyen, Erik Muller, Michael Rubin +4
Traditional soil sampling and analysis methods are labor-intensive, time-consuming, and limited in spatial resolution, making them unsuitable for large-scale precision agriculture.…
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…
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…
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…
NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +3
In recent years, autonomous robots have become ubiquitous in research and daily life. Among many factors, public datasets play an important role in the progress of this field, as t…
Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data
Thien Hoang Nguyen, Lihua Xie
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance m…
VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +2
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lid…
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +3
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of vie…
SPINS: Structure Priors aided Inertial Navigation System
Yang Lyu, Thien-Minh Nguyen, Liu Liu +4
Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy du…
LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry
Thien-Minh Nguyen, Muqing Cao, Shenghai Yuan +3
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Des…
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +3
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feat…