Zobrazeno 1 - 10
of 321
pro vyhledávání: '"Cai, Yixi"'
Autor:
Zhu, Fangcheng, Ren, Yunfan, Yin, Longji, Kong, Fanze, Liu, Qingbo, Xue, Ruize, Liu, Wenyi, Cai, Yixi, Lu, Guozheng, Li, Haotian, Zhang, Fu
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state estimation are the critical preconditions for completing these swarm tas
Externí odkaz:
http://arxiv.org/abs/2409.17798
Autor:
Liu, Wenyi, Ren, Yunfan, Guo, Rui, Kong, Vickie W. W., Hung, Anthony S. P., Zhu, Fangcheng, Cai, Yixi, Zou, Yuying, Zhang, Fu
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil Engineering
Externí odkaz:
http://arxiv.org/abs/2409.13985
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window optimization, wh
Externí odkaz:
http://arxiv.org/abs/2409.10868
This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from posed images
Externí odkaz:
http://arxiv.org/abs/2409.05310
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed D-Map. The fram
Externí odkaz:
http://arxiv.org/abs/2307.08493
Autor:
Zou, Yuying, Li, Haotian, Ren, Yunfan, Xu, Wei, Li, Yihang, Cai, Yixi, Zhou, Shenji, Zhang, Fu
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing work, this p
Externí odkaz:
http://arxiv.org/abs/2307.00861
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR with OGMs.
Externí odkaz:
http://arxiv.org/abs/2302.14819
Autor:
Lin, Jiarong, Yuan, Chongjiang, Cai, Yixi, Li, Haotian, Ren, Yunfan, Zou, Yuying, Hong, Xiaoping, Zhang, Fu
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework termed ImMesh comprises four tightly-coupled modules: receiver, local
Externí odkaz:
http://arxiv.org/abs/2301.05206
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, wh
Externí odkaz:
http://arxiv.org/abs/2212.11552
Autor:
Kong, Fanze, Liu, Xiyuan, Tang, Benxu, Lin, Jiarong, Ren, Yunfan, Cai, Yixi, Zhu, Fangcheng, Chen, Nan, Zhang, Fu
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing navigation safety and computation efficiency. Yet the successful develo
Externí odkaz:
http://arxiv.org/abs/2211.10716