4.7k citations · 6.6k across the 79 of their papers we have counts for
21 papers · 1 filter
Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
Boyu Zhou, Fei Gao, Jie Pan +1
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safet…
FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment
Ke Wang, Kaixuan Wang, Shaojie Shen
Many approaches have been proposed to estimate camera poses by directly minimizing photometric error. However, due to the non-convex property of direct alignment, proper initializa…
Flow-Motion and Depth Network for Monocular Stereo and Beyond
Kaixuan Wang, Shaojie Shen
We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a mon…
Real-time Scalable Dense Surfel Mapping
Kaixuan Wang, Fei Gao, Shaojie Shen
In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera po…
Multi-Sensor 3D Object Box Refinement for Autonomous Driving
Peiliang Li, Siqi Liu, Shaojie Shen
We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor f…
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Boyu Zhou, Fei Gao, Luqi Wang +2
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find…
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
Fei Gao, Luqi Wang, Boyu Zhou +3
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-an…
Safe Trajectory Generation for Complex Urban Environments Using Spatio-temporal Semantic Corridor
Wenchao Ding, Lu Zhang, Jing Chen +1
Planning safe trajectories for autonomous vehicles in complex urban environments is challenging since there are numerous semantic elements (such as dynamic agents, traffic lights a…
An Efficient B-spline-Based Kinodynamic Replanning Framework for Quadrotors
Wenchao Ding, Wenliang Gao, Kaixuan Wang +1
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning wi…
Learning Whole-Image Descriptors for Real-time Loop Detection andKidnap Recovery under Large Viewpoint Difference
Manohar Kuse, Shaojie Shen
We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicatedkidnap scenarios and failures online in realtime. We propose to learn the whole-i…
Real-Time Dense Stereo Embedded in A UAV for Road Inspection
Rui Fan, Jianhao Jiao, Jie Pan +3
The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision…
High-Precision Online Markerless Stereo Extrinsic Calibration
Yonggen Ling, Shaojie Shen
Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their r…
Probabilistic Dense Reconstruction from a Moving Camera
Yonggen Ling, Kaixuan Wang, Shaojie Shen
This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estim…
Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization
Wenchao Ding, Wenliang Gao, Kaixuan Wang +1
We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-t…
Online Vehicle Trajectory Prediction using Policy Anticipation Network and Optimization-based Context Reasoning
Wenchao Ding, Shaojie Shen
In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometri…
Flying through a narrow gap using neural network: an end-to-end planning and control approach
Jiarong Lin, Luqi Wang, Fei Gao +2
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an en…
FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots
Luxin Han, Fei Gao, Boyu Zhou +1
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast…
Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network
Wenchao Ding, Jing Chen, Shaojie Shen
Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very…
Stereo R-CNN based 3D Object Detection for Autonomous Driving
Peiliang Li, Xiaozhi Chen, Shaojie Shen
We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Ste…
A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors
Tong Qin, Shaozu Cao, Jie Pan +1
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary…
A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors
Tong Qin, Jie Pan, Shaozu Cao +1
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as st…