3 papers
cs.RO2025
GVD-TG: Topological Graph based on Fast Hierarchical GVD Sampling for Robot Exploration
Yanbin Li, Canran Xiao, Shenghai Yuan +5
Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a…
cs.RO2025
DOA: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability based on Deep Reinforcement Learning
Yanbin Li, Canran Xiao, Hongyang He +7
Particle filter-based 2D-SLAM is widely used in indoor localization tasks due to its efficiency. However, indoor environments such as long straight corridors can cause severe degen…
cs.RO2025
Anti-Degeneracy Scheme for Lidar SLAM based on Particle Filter in Geometry Feature-Less Environments
Yanbin Li, Wei Zhang, Zhiguo Zhang +5
Simultaneous localization and mapping (SLAM) based on particle filtering has been extensively employed in indoor scenarios due to its high efficiency. However, in geometry feature-…