4 papers · 1 filter
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…
NeurIT: Pushing the Limit of Neural Inertial Tracking for Indoor Robotic IoT
Xinzhe Zheng, Sijie Ji, Yipeng Pan +2
Inertial tracking is vital for robotic IoT and has gained popularity thanks to the ubiquity of low-cost inertial measurement units and deep learning-powered tracking algorithms. Ex…
Bimanual Deformable Bag Manipulation Using a Structure-of-Interest Based Neural Dynamics Model
Peng Zhou, Pai Zheng, Jiaming Qi +5
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces…