4 papers
Graph Gain: A Concave-Hull Based Volumetric Gain for Robotic Exploration
Zezhou Sun, Huajun Liu, Chengzhong Xu +1
The existing volumetric gain for robotic exploration is calculated in the 3D occupancy map, while the sampling-based exploration method is extended in the reachable (free) space. T…
Ada-Detector: Adaptive Frontier Detector for Rapid Exploration
Zezhou Sun, Banghe Wu, Chengzhong Xu +1
In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. Robots can achieve real-time…
HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
Zhixing Hou, Yan Yan, Chengzhong Xu +1
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points an…
Learning Moving-Object Tracking with FMCW LiDAR
Yi Gu, Hongzhi Cheng, Kafeng Wang +3
In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with…