6 papers
PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping
Jiawei Xia, Yixiao Feng, Yongliang Shi +4
Thermal imaging is resilient to adverse conditions, such as intense illumination, low-light operation, and fog, and can therefore mitigate odometry degradation when visible-spectru…
Robust and High-Fidelity 3D Gaussian Splatting: Fusing Pose Priors and Geometry Constraints for Texture-Deficient Outdoor Scenes
Meijun Guo, Yongliang Shi, Caiyun Liu +5
3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of u…
Semi-distributed Cross-modal Air-Ground Relative Localization
Weining Lu, Deer Bin, Lian Ma +8
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily real…
Efficient Collaborative Navigation through Perception Fusion for Multi-Robots in Unknown Environments
Qingquan Lin, Weining Lu, Litong Meng +2
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In…
Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation
Chenxi Li, Weining Lu, Qingquan Lin +3
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to faci…
Collaborative Goal Tracking of Multiple Mobile Robots Based on Geometric Graph Neural Network
Weining Lu, Qingquan Lin, Litong Meng +2
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient…