4.7k citations · 6.6k across the 79 of their papers we have counts for
9 papers · 1 filter
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…
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen, Boyu Zhou, Jiarong Lin +3
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is benef…
An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments
Zhichao Han, Yuwei Wu, Tong Li +8
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial…
Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure
Yichen Zhang, Boyu Zhou, Luqi Wang +1
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the r…
Temporal Point Cloud Completion with Pose Disturbance
Jieqi Shi, Lingyun Xu, Peiliang Li +2
Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this w…
Neither Fast Nor Slow: How to Fly Through Narrow Tunnels
Luqi Wang, Hao Xu, Yichen Zhang +1
Nowadays, multirotors are playing important roles in abundant types of missions. During these missions, entering confined and narrow tunnels that are barely accessible to humans is…