Gaojie Lu — accepted AI-conference papers

2025

DGO-VINS: A Visual-Inertial SLAM for Dynamic Environments With Geometric Constraint and Adaptive State Optimization

Xiaotao Liu, Yu Zhang, Gaojie Lu, Shuangjiang Li, Jing Liu

RA-L 2025

Traditional SLAM performs well in static environments, but experiences degeneration of localization accuracy and stability in dynamic settings. To enhance performance in dynamic environments, this letter presents DGO-VINS, a real-time dynamic visual-inertial SLAM system based on geometric constraint

Cited by 3 Source ↗Scholar ↗

2025

Rapid Autonomous Exploration of Large-Scale Environments for Ground Robots Based on Region Partitioning

Zhi Wen, Xiaotao Liu, Gaojie Lu, Jing Liu

ICRA 2025

Autonomous exploration in large environments often leads to inefficient long backtracking, as distant targets are prioritized over closer ones. In this work, a hierarchical planning method is proposed, which employs region partitioning to systematically address the aforementioned issue. The space is

Cited by 1 Source ↗Scholar ↗