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Graph-Guided Deformation for Point Cloud Completion
Jieqi Shi, Lingyun Xu, Liang Heng +1
For a long time, the point cloud completion task has been regarded as a pure generation task. After obtaining the global shape code through the encoder, a complete point cloud is g…
Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting
Xiuyuan Lu, Yi Zhou, Shaojie Shen
Among prerequisites for a synthetic agent to interact with dynamic scenes, the ability to identify independently moving objects is specifically important. From an application persp…
Trajectory Prediction with Graph-based Dual-scale Context Fusion
Lu Zhang, Peiliang Li, Jing Chen +1
Motion prediction for traffic participants is essential for a safe and robust automated driving system, especially in cluttered urban environments. However, it is highly challengin…
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
Luqi Wang, Boyu Zhou, Chuhao Liu +1
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest p…
BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics
Hao Xu, Shaojie Shen
Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation…
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments
Wenchao Ding, Lu Zhang, Jing Chen +1
In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning syste…
Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks
Jinni Zhou, Hao Xu, Zexiang Li +2
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical struct…
GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation
Shaozu Cao, Xiuyuan Lu, Shaojie Shen
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly…
Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
Hao Xu, Yichen Zhang, Boyu Zhou +4
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research t…