b'Shaojie Shen'

research

∙ 08/23/2023

MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving

Generating safe and non-conservative behaviors in dense, dynamic environ...

0 Tong Li, et al. ∙

research

∙ 08/22/2023

G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

This study introduces a novel framework, G3Reg, for fast and robust glob...

0 Zhijian Qiao, et al. ∙

research

∙ 08/20/2023

MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction

Predicting the future behavior of agents is a fundamental task in autono...

0 Chen Feng, et al. ∙

research

∙ 07/22/2023

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap

Global point cloud registration is essential in many robotics tasks like...

0 Zhijian Qiao, et al. ∙

research

∙ 07/21/2023

Online Monocular Lane Mapping Using Catmull-Rom Spline

In this study, we introduce an online monocular lane mapping approach th...

0 Zhijian Qiao, et al. ∙

research

∙ 07/14/2023

Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes

In this paper, we present a centralized framework for multi-session LiDA...

0 Zehuan Yu, et al. ∙

research

∙ 06/25/2023

BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction

Predicting future trajectories of surrounding agents is essential for sa...

0 Yiyao Zhu, et al. ∙

research

∙ 06/05/2023

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation

Constructing a high-quality dense map in real-time is essential for robo...

0 Chenxing Jiang, et al. ∙

research

∙ 05/24/2023

Towards View-invariant and Accurate Loop Detection Based on Scene Graph

Loop detection plays a key role in visual Simultaneous Localization and ...

0 Chuhao Liu, et al. ∙

research

∙ 03/07/2023

ENTROPY: Environment Transformer and Offline Policy Optimization

Model-based methods provide an effective approach to offline reinforceme...

0 Pengqin Wang, et al. ∙

research

∙ 03/06/2023

Parallel Optimization for Cooperative Autonomous Driving at Unsignalized Roundabouts with Hard Safety Guarantees

The development of connected autonomous vehicles (CAVs) facilitates the ...

0 Zhenmin Huang, et al. ∙

research

∙ 03/03/2023

Are All Point Clouds Suitable for Completion? Weakly Supervised Quality Evaluation Network for Point Cloud Completion

In the practical application of point cloud completion tasks, real data ...

0 Jieqi Shi, et al. ∙

research

∙ 02/15/2023

A Survey on Global LiDAR Localization

Knowledge about the own pose is key for all mobile robot applications. T...

0 Huan Yin, et al. ∙

research

∙ 02/13/2023

Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation

This paper proposes Contour Context, a simple, effective, and efficient ...

0 Binqian Jiang, et al. ∙

research

∙ 02/09/2023

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

Autonomous UAV path planning for 3D reconstruction has been actively stu...

0 Chen Feng, et al. ∙

research

∙ 02/09/2023

Catch Planner: Catching High-Speed Targets in the Flight

Catching high-speed targets in the flight is a complex and typical highl...

0 Huan Yu, et al. ∙

research

∙ 01/11/2023

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM

Developments in cooperative trajectory planning of connected autonomous ...

0 Zhenmin Huang, et al. ∙

research

∙ 11/22/2022

SemanticLoop: loop closure with 3D semantic graph matching

Loop closure can effectively correct the accumulated error in robot loca...

0 Junfeng Yu, et al. ∙

research

∙ 11/17/2022

You Only Label Once: 3D Box Adaptation from Point Cloud to Image via Semi-Supervised Learning

The image-based 3D object detection task expects that the predicted 3D b...

0 Jieqi Shi, et al. ∙

research

∙ 11/03/2022

D^2SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm

In recent years, aerial swarm technology has developed rapidly. In order...

0 Hao Xu, et al. ∙

research

∙ 09/18/2022

RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System

Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great p...

0 Boyu Zhou, et al. ∙

research

∙ 08/28/2022

Differential Flatness-Based Trajectory Planning for Autonomous Vehicles

As a core part of autonomous driving systems, motion planning has receiv...

0 Zhichao Han, et al. ∙

research

∙ 08/08/2022

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

In recent years, mobile robots are becoming ambitious and deployed in la...

0 Xinyi Chen, et al. ∙

research

∙ 04/06/2022

Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure

Despite recent progress of robotic exploration, most methods assume that...

0 Yichen Zhang, et al. ∙

research

∙ 02/07/2022

Temporal Point Cloud Completion with Pose Disturbance

Point clouds collected by real-world sensors are always unaligned and sp...

0 Jieqi Shi, et al. ∙

research

∙ 01/10/2022

Neither Fast Nor Slow: How to Fly Through Narrow Tunnels

Nowadays, multirotors are playing important roles in abundant types of m...

0 Luqi Wang, et al. ∙

research

∙ 11/11/2021

Graph-Guided Deformation for Point Cloud Completion

For a long time, the point cloud completion task has been regarded as a ...

0 Jieqi Shi, et al. ∙

research

∙ 11/05/2021

Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting

Among prerequisites for a synthetic agent to interact with dynamic scene...

0 Xiuyuan Lu, et al. ∙

research

∙ 09/10/2021

Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning

It is ubiquitously accepted that during the autonomous navigation of the...

0 Luqi Wang, et al. ∙

research

∙ 09/09/2021

BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics

Distributed pose graph optimization (DPGO) is one of the fundamental tec...

0 Hao Xu, et al. ∙

research

∙ 04/05/2021

Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks

Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles...

0 Jinni Zhou, et al. ∙

research

∙ 03/14/2021

GVINS: Tightly Coupled GNSS-Visual-Inertial for Smooth and Consistent State Estimation

Visual-Inertial odometry is known to suffer from drifting especially ove...

0 Shaozu Cao, et al. ∙

research

∙ 03/06/2021

Omni-swarm: An Aerial Swarm System with Decentralized Omni-directional Visual-Inertial-UWB State Estimation

The collaboration of unmanned aerial vehicles (UAVs), also known as aeri...

0 Hao Xu, et al. ∙

research

∙ 12/16/2020

Event-based Motion Segmentation with Spatio-Temporal Graph Cuts

Identifying independently moving objects is an essential task for dynami...

5 Yi Zhou, et al. ∙

research

∙ 10/22/2020

FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning

Autonomous exploration is a fundamental problem for various applications...

0 Boyu Zhou, et al. ∙

research

∙ 10/20/2020

Tracking from Patterns: Learning Corresponding Patterns in Point Clouds for 3D Object Tracking

A robust 3D object tracker which continuously tracks surrounding objects...

0 Jieqi Shi, et al. ∙

research

∙ 08/05/2020

An Augmented Reality Interaction Interface for Autonomous Drone

Human drone interaction in autonomous navigation incorporates spatial in...

0 Chuhao Liu, et al. ∙

research

∙ 07/30/2020

Event-based Stereo Visual Odometry

Event-based cameras are bio-inspired vision sensors whose pixels work in...

0 Yi Zhou, et al. ∙

research

∙ 07/06/2020

RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight

Recent advances in trajectory replanning have enabled quadrotor to navig...

0 Boyu Zhou, et al. ∙

research

∙ 06/05/2020

FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications

Fast and accurate depth estimation, or stereo matching, is essential in ...

3 Jieru Zhao, et al. ∙

research

∙ 04/20/2020

Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking

Directly learning multiple 3D objects motion from sequential images is d...

5 Peiliang Li, et al. ∙

research

∙ 03/25/2020

PiP: Planning-informed Trajectory Prediction for Autonomous Driving

It is critical to predict the motion of surrounding vehicles for self-dr...

0 Haoran Song, et al. ∙

research

∙ 03/11/2020

Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm

The collaboration of unmanned aerial vehicles (UAVs) has become a popula...

0 Hao Xu, et al. ∙

research

∙ 03/05/2020

Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching

Decision-making in dense traffic scenarios is challenging for automated ...

0 Lu Zhang, et al. ∙

research

∙ 12/29/2019

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

Gradient-based trajectory optimization (GTO) has gained wide popularity ...

0 Boyu Zhou, et al. ∙

research

∙ 10/16/2019

FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment

Many approaches have been proposed to estimate camera poses by directly ...

0 Ke Wang, et al. ∙

research

∙ 09/12/2019

Flow-Motion and Depth Network for Monocular Stereo and Beyond

We propose a learning-based method that solves monocular stereo and can ...

7 Kaixuan Wang, et al. ∙

research

∙ 09/11/2019

Multi-Sensor 3D Object Box Refinement for Autonomous Driving

We propose a 3D object detection system with multi-sensor refinement in ...

0 Peiliang Li, et al. ∙

research

∙ 09/10/2019

Real-time Scalable Dense Surfel Mapping

In this paper, we propose a novel dense surfel mapping system that scale...

12 Kaixuan Wang, et al. ∙

research

∙ 07/02/2019

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

In this paper, we propose a robust and efficient quadrotor motion planni...

0 Boyu Zhou, et al. ∙

Shaojie Shen

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