14 citations · 24 across the 12 of their papers we have counts for
6 papers · 1 filter
MaskRange: A Mask-classification Model for Range-view based LiDAR Segmentation
Yi Gu, Yuming Huang, Chengzhong Xu +1
Range-view based LiDAR segmentation methods are attractive for practical applications due to their direct inheritance from efficient 2D CNN architectures. In literature, most range…
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…
LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment
Banghe Wu, Chengzhong Xu, Hui Kong
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR…
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…