5 papers
UniLGL: Learning Uniform Place Recognition for FOV-limited/Panoramic LiDAR Global Localization
Hongming Shen, Xun Chen, Yulin Hui +5
Existing LGL methods typically consider only partial information (e.g., geometric features) from LiDAR observations or are designed for homogeneous LiDAR sensors, overlooking the u…
ParaMaP: Parallel Mapping and Collision-free Motion Planning for Reactive Robot Manipulation
Xuewei Zhang, Bailing Tian, Kai Zheng +3
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent onl…
YOPO-Rally: A Sim-to-Real Single-Stage Planner for Off-Road Terrain
Hongyu Cao, Junjie Lu, Xuewei Zhang +3
Off-road navigation remains challenging for autonomous robots due to the harsh terrain and clustered obstacles. In this letter, we extend the YOPO (You Only Plan Once) end-to-end n…
YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action
Junjie Lu, Yulin Hui, Xuewei Zhang +4
Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On th…
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling
Hongming Shen, Zhenyu Wu, Yulin Hui +6
In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single…