8 citations · 8 across the 4 of their papers we have counts for
4 papers · 1 filter
R-VoxelMap: Accurate Voxel Mapping with Recursive Plane Fitting for Online LiDAR Odometry
Haobo Xi, Shiyong Zhang, Qianli Dong +4
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localizatio…
FSMP: A Frontier-Sampling-Mixed Planner for Fast Autonomous Exploration of Complex and Large 3-D Environments
Shiyong Zhang, Xuebo Zhang, Qianli Dong +3
In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integ…
GVD Planner: Efficient Motion Planning With Grid-based Generalized Voronoi Diagrams
Jian Wen, Xuebo Zhang, Qingchen Bi +3
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (GVD) is newly proposed for mobile robots. Different from existing…
EMoP: Efficient Motion Planning Based on Heuristic-Guided Motion Primitives Pruning and Path Optimization With Sparse-Banded Structure
Jian Wen, Xuebo Zhang, Haiming Gao +2
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-sc…