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cs.RO2026
osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy
Yongqi Zhang, Jiajie Zhang, Chengqian Li +2
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision.…
cs.RO2023
osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics
Delin Feng, Chengqian Li, Yongqi Zhang +2
Maps are essential to mobile robotics tasks like localization and planning. We propose the open street map (osm) XML based Area Graph file format to store hierarchical, topometric…
cs.RO2023
Optimizing the extended Fourier Mellin Transformation Algorithm
Wenqing Jiang, Chengqian Li, Jinyue Cao +1
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FM…