3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.RO2025
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…