4 papers
CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping
Lei Zhao, Xingyi Li, Tianchen Deng +3
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fus…
Scene-Agnostic Traversability Labeling and Estimation via a Multimodal Self-supervised Framework
Zipeng Fang, Yanbo Wang, Lei Zhao +1
Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising resu…
Learning to Tune Like an Expert: Interpretable and Scene-Aware Navigation via MLLM Reasoning and CVAE-Based Adaptation
Yanbo Wang, Zipeng Fang, Lei Zhao +1
Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstru…
An Efficient LiDAR-Camera Fusion Network for Multi-Class 3D Dynamic Object Detection and Trajectory Prediction
Yushen He, Lei Zhao, Tianchen Deng +2
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the p…