46 citations · 80 across the 18 of their papers we have counts for
19 papers
From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm
Xinhang Xu, Ruiyang Liu, Haotian Jin +4
UAV swarm for applications, such as indoor inspection, security patrol, and logistics delivery, are often mission-oriented rather than exploration-oriented. In these tasks, UAVs ar…
FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
Jianping Li, Pengfei Wan, Zhongyuan Liu +6
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes de…
S3KF: Spherical State-Space Kalman Filtering for Panoramic 3D Multi-Object Tracking
Zhongyuan Liu, Shaonan Yu, Jianping Li +5
Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these setti…
OmniVLN: Omnidirectional 3D Perception and Token-Efficient LLM Reasoning for Visual-Language Navigation across Air and Ground Platforms
Zhongyuang Liu, Min He, Shaonan Yu +5
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliab…
Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems
Zijie Chen, Xiaowei Liu, Yong Xu +3
Accurate calibration and robust localization are fundamental for downstream tasks in spinning actuated LiDAR applications. Existing methods, however, require parameterizing extrins…
Adaptive Motorized LiDAR Scanning Control for Robust Localization with OpenStreetMap
Jianping Li, Kaisong Zhu, Zhongyuan Liu +4
LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consis…
AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes
Jianping Li, Xinhang Xu, Zhongyuan Liu +3
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload c…
LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System
Jianping Li, Zhongyuan Liu, Xinhang Xu +4
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on ro…
UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry
Jianping Li, Xinhang Xu, Jinxin Liu +3
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Mo…
Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process
Shenghai Yuan, Boyang Lou, Thien-Minh Nguyen +7
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seap…
Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation
Muqing Cao, Xinhang Xu, Yizhuo Yang +6
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a d…
Robust Loop Closure by Textual Cues in Challenging Environments
Tongxing Jin, Thien-Minh Nguyen, Xinhang Xu +4
Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work…
Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing
Jianping Li, Thien-Minh Nguyen, Muqing Cao +3
Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and ro…
SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment
Xingyu Ji, Shenghai Yuan, Jianping Li +3
LiDAR bundle adjustment (BA) is an effective approach to reduce the drifts in pose estimation from the front-end. Existing works on LiDAR BA usually rely on predefined geometric fe…
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions
Jianping Li, Qiutong Leng, Jinxing Liu +7
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These sys…
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System
Jianping Li, Shenghai Yuan, Muqing Cao +3
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior…
PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing
Jianping Li, Thien-Minh Nguyen, Shenghai Yuan +1
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registra…
MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats
Shenghai Yuan, Yizhuo Yang, Thien Hoang Nguyen +6
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we i…
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association
Thien-Minh Nguyen, Xinhang Xu, Tongxing Jin +4
In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO alg…