A5005175367- Robotics and Sensor-Based Localization
- Indoor and Outdoor Localization Technologies
- Remote Sensing and LiDAR Applications
- Robotic Path Planning Algorithms
- 3D Surveying and Cultural Heritage
- Maritime Navigation and Safety
- Inertial Sensor and Navigation
- Video Surveillance and Tracking Methods
- Industrial Vision Systems and Defect Detection
- Advanced Image and Video Retrieval Techniques
- Underwater Vehicles and Communication Systems
- Automated Road and Building Extraction
Harbin Engineering University
2019-2025
LiDAR-based place recognition (LPR) is crucial for the navigation and localization of autonomous vehicles mobile robots in large-scale outdoor environments plays a critical role loop closure detection simultaneous mapping (SLAM). Existing LPR methods, which utilize 2D bird’s-eye view (BEV) projections 3D point clouds, achieve competitive performance efficiency accuracy. However, these methods often struggle with capturing global contextual information maintaining robustness to viewpoint...
The underwater environment is complex and variable, other navigation methods that can assist the inertial for positioning are often only effective in specific areas. In cross-region, seamless connection between different plug-and-play sensors particularly important. Aiming at this problem, a new ASPN algorithm based on factor graph proposed paper. optimization, preintegration of IMU applied to realize sensors. Finally, long baseline taken as examples simulate feasibility algorithm.
Place recognition plays a crucial role in tasks such as loop closure detection and re-localization robotic navigation. As high-level representation within scenes, semantics enables models to effectively distinguish geometrically similar places, therefore enhancing their robustness environmental changes. Unlike most existing semantic-based LiDAR place (LPR) methods that adopt multi-stage relatively segregated data-processing storage pipeline, we propose novel end-to-end LPR model guided by...
The localization of autonomous vehicles mainly depends on GPS-based methods in large-scale outdoor scenarios. Unfortunately, GPS is vulnerable and not reliable some regions, such as urban canyons. Odometry taken a complementary method for positioning GPS-limited areas, but it suffers from accumulated errors, which limits its application. Topological map concise low-cost representation real world environment, can be deemed one the information sources localization. To realize accurate scenes...