1 citations · 1 across the 9 of their papers we have counts for
11 papers
Continuous Actions from Discrete Minds: Latent-Aligned Planning for End-to-End Autonomous Driving
Ruoyu Yao, Yusen Xie, Qingzhao Liu +5
Bridging the gap between the discrete reasoning of Vision-Language Models and the continuous, physics-constrained nature of autonomous driving remains a significant challenge. In t…
Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Yueteng Yang, Yusen Xie, Hao Wei +5
Multi-camera visual-inertial odometry (VIO) overcomes the inherent limitations of pure visual systems by expanding the field of view. However, existing algorithms are typically tai…
UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering
Yusen Xie, Zhenmin Huang, Jianhao Jiao +2
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framew…
Orchestrate, Generate, Reflect: A VLM-Based Multi-Agent Collaboration Framework for Automated Driving Policy Learning
Zengqi Peng, Yusen Xie, Yubin Wang +3
The advancement of foundation models fosters new initiatives for policy learning in achieving safe and efficient autonomous driving. However, a critical bottleneck lies in the manu…
Semantic-LiDAR-Inertial-Wheel Odometry Fusion for Robust Localization in Large-Scale Dynamic Environments
Haoxuan Jiang, Peicong Qian, Yusen Xie +4
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introd…
DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios
Haoxuan Jiang, Peicong Qian, Yusen Xie +3
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environm…
Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties
Zhenmin Huang, Yusen Xie, Benshan Ma +2
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions am…
Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving
Yusen Xie, Zhengmin Huang, Shaojie Shen +1
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consi…
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting
Yusen Xie, Zhenmin Huang, Jin Wu +1
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing m…
MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups
Yusen Xie, Zhenmin Huang, Kai Chen +2
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods d…
Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming
Yulin Li, Chunxin Zheng, Kai Chen +4
In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by p…