4 papers
NavG: Risk-Aware Navigation in Crowded Environments Based on Reinforcement Learning with Guidance Points
Qianyi Zhang, Wentao Luo, Boyi Liu +3
Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guid…
Scene Modeling of Autonomous Vehicles Avoiding Stationary and Moving Vehicles on Narrow Roads
Qianyi Zhang, Jinzheng Guang, Zhenzhong Cao +1
Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommo…
RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting
Zhenzhong Cao, Chenyang Zhao, Qianyi Zhang +2
High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of sce…
GA-TEB: Goal-Adaptive Framework for Efficient Navigation Based on Goal Lines
Qianyi Zhang, Wentao Luo, Ziyang Zhang +2
In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's p…