41 citations · 43 across the 9 of their papers we have counts for
9 papers
CSMapping: Scalable Crowdsourced Semantic Mapping and Topology Inference for Autonomous Driving
Zhijian Qiao, Zehuan Yu, Tong Li +3
Crowdsourcing enables scalable autonomous driving map construction, but low-cost sensor noise hinders quality from improving with data volume. We propose CSMapping, a system that p…
SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building
Haoming Huang, Zhijian Qiao, Zehuan Yu +4
Existing indoor SLAM datasets primarily focus on robot sensing, often lacking building architectures. To address this gap, we design and construct the first dataset to couple the S…
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments
Zehuan Yu, Zhijian Qiao, Wenyi Liu +2
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption…
Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform
Zhijian Qiao, Haoming Huang, Chuhao Liu +4
Light detection and ranging (LiDAR) point clouds and building information modeling (BIM) represent two distinct data modalities in the fields of robot perception and construction.…
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
Zhijian Qiao, Zehuan Yu, Binqian Jiang +2
This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we ext…
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap
Zhijian Qiao, Zehuan Yu, Huan Yin +1
Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between…
Online Monocular Lane Mapping Using Catmull-Rom Spline
Zhijian Qiao, Zehuan Yu, Huan Yin +1
In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique mo…
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes
Zehuan Yu, Zhijian Qiao, Liuyang Qiu +2
In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of wide…
H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Hanwen Zhang, Peize Liu +4
Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping pe…