152 citations · 157 across the 7 of their papers we have counts for
7 papers
BIM-Loc: BIM-Integrated Discrepancy-Aware LiDAR-based Indoor Localization
Yinqiang Zhang, Liang Lu, Yipeng Pan +5
Accurate and robust localization is a fundamental requirement for service and inspection robots, particularly in feature-sparse indoor environments where traditional systems strugg…
Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone
Zhanteng Xie, Yipeng Pan, Yinqiang Zhang +2
This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the reth…
SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation
Zhanteng Xie, Philip Dames
This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environmen…
Towards Predicting Collective Performance in Multi-Robot Teams
Pujie Xin, Zhanteng Xie, Philip Dames
The increased deployment of multi-robot systems (MRS) in various fields has led to the need for analysis of system-level performance. However, creating consistent metrics for MRS i…
DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles
Zhanteng Xie, Philip Dames
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces fille…
Stochastic Occupancy Grid Map Prediction in Dynamic Scenes
Zhanteng Xie, Philip Dames
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scen…
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022
Xuesu Xiao, Zifan Xu, Zizhao Wang +14
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022) in Philadelphia, PA. The aim…