4.7k citations · 6.6k across the 79 of their papers we have counts for
79 papers
Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios
Yuman Gao, Jialin Ji, Qianhao Wang +7
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground…
AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation
Haojia Li, Haokun Wang, Chen Feng +3
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, includin…
MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving
Tong Li, Lu Zhang, Sikang Liu +1
Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behav…
MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction
Chen Feng, Hangning Zhou, Huadong Lin +5
Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly r…
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model
Zhijian Qiao, Zehuan Yu, Binqian Jiang +2
This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we ext…
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap
Zhijian Qiao, Zehuan Yu, Huan Yin +1
Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between…
Online Monocular Lane Mapping Using Catmull-Rom Spline
Zhijian Qiao, Zehuan Yu, Huan Yin +1
In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique mo…
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes
Zehuan Yu, Zhijian Qiao, Liuyang Qiu +2
In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of wide…
BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction
Yiyao Zhu, Di Luan, Shaojie Shen
Predicting future trajectories of surrounding agents is essential for safety-critical autonomous driving. Most existing work focuses on predicting marginal trajectories for each ag…
H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Hanwen Zhang, Peize Liu +4
Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping pe…
Towards View-invariant and Accurate Loop Detection Based on Scene Graph
Chuhao Liu, Shaojie Shen
Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semanti…
Are All Point Clouds Suitable for Completion? Weakly Supervised Quality Evaluation Network for Point Cloud Completion
Jieqi Shi, Peiliang Li, Xiaozhi Chen +1
In the practical application of point cloud completion tasks, real data quality is usually much worse than the CAD datasets used for training. A small amount of noisy data will usu…
Environment Transformer and Policy Optimization for Model-Based Offline Reinforcement Learning
Pengqin Wang, Meixin Zhu, Shaojie Shen
Interacting with the actual environment to acquire data is often costly and time-consuming in robotic tasks. Model-based offline reinforcement learning (RL) provides a feasible sol…
Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles
Zhenmin Huang, Haichao Liu, Shaojie Shen +1
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulti…
Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation
Binqian Jiang, Shaojie Shen
This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting t…
PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao +2
Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-t…
The Devil is in the Wrongly-classified Samples: Towards Unified Open-set Recognition
Jun Cen, Di Luan, Shiwei Zhang +5
Open-set Recognition (OSR) aims to identify test samples whose classes are not seen during the training process. Recently, Unified Open-set Recognition (UOSR) has been proposed to…
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR s…
Catch Planner: Catching High-Speed Targets in the Flight
Huan Yu, Pengqin Wang, Jin Wang +8
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For s…
Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM
Zhenmin Huang, Shaojie Shen, Jun Ma
Developments in cooperative trajectory planning of connected autonomous vehicles (CAVs) have gathered considerable momentum and research attention. Generally, such problems present…
SemanticLoop: loop closure with 3D semantic graph matching
Junfeng Yu, Shaojie Shen
Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based…
You Only Label Once: 3D Box Adaptation from Point Cloud to Image via Semi-Supervised Learning
Jieqi Shi, Peiliang Li, Xiaozhi Chen +1
The image-based 3D object detection task expects that the predicted 3D bounding box has a ``tightness'' projection (also referred to as cuboid), which fits the object contour well…
SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
Hao Xu, Peize Liu, Xinyi Chen +1
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control.…
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System
Boyu Zhou, Hao Xu, Shaojie Shen
Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we presen…