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08/23/2023
MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving
Generating safe and non-conservative behaviors in dense, dynamic environ...
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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...
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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...
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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...
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07/21/2023
Online Monocular Lane Mapping Using Catmull-Rom Spline
In this study, we introduce an online monocular lane mapping approach th...
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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...
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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...
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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...
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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 ...
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03/07/2023
ENTROPY: Environment Transformer and Offline Policy Optimization
Model-based methods provide an effective approach to offline reinforceme...
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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 ...
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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 ...
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02/15/2023
A Survey on Global LiDAR Localization
Knowledge about the own pose is key for all mobile robot applications. T...
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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 ...
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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...
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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...
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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 ...
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11/22/2022
SemanticLoop: loop closure with 3D semantic graph matching
Loop closure can effectively correct the accumulated error in robot loca...
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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...
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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...
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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...
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08/28/2022
Differential Flatness-Based Trajectory Planning for Autonomous Vehicles
As a core part of autonomous driving systems, motion planning has receiv...
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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...
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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...
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02/07/2022
Temporal Point Cloud Completion with Pose Disturbance
Point clouds collected by real-world sensors are always unaligned and sp...
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01/10/2022
Neither Fast Nor Slow: How to Fly Through Narrow Tunnels
Nowadays, multirotors are playing important roles in abundant types of m...
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11/11/2021
Graph-Guided Deformation for Point Cloud Completion
For a long time, the point cloud completion task has been regarded as a ...
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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...
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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...
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09/09/2021
BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics
Distributed pose graph optimization (DPGO) is one of the fundamental tec...
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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...
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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...
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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...
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12/16/2020
Event-based Motion Segmentation with Spatio-Temporal Graph Cuts
Identifying independently moving objects is an essential task for dynami...
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10/22/2020
FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning
Autonomous exploration is a fundamental problem for various applications...
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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...
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08/05/2020
An Augmented Reality Interaction Interface for Autonomous Drone
Human drone interaction in autonomous navigation incorporates spatial in...
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07/30/2020
Event-based Stereo Visual Odometry
Event-based cameras are bio-inspired vision sensors whose pixels work in...
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07/06/2020
RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight
Recent advances in trajectory replanning have enabled quadrotor to navig...
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06/05/2020
FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications
Fast and accurate depth estimation, or stereo matching, is essential in ...
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04/20/2020
Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking
Directly learning multiple 3D objects motion from sequential images is d...
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03/25/2020
PiP: Planning-informed Trajectory Prediction for Autonomous Driving
It is critical to predict the motion of surrounding vehicles for self-dr...
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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...
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03/05/2020
Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching
Decision-making in dense traffic scenarios is challenging for automated ...
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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 ...
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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 ...
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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 ...
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09/11/2019
Multi-Sensor 3D Object Box Refinement for Autonomous Driving
We propose a 3D object detection system with multi-sensor refinement in ...
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09/10/2019
Real-time Scalable Dense Surfel Mapping
In this paper, we propose a novel dense surfel mapping system that scale...
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07/02/2019