Ruitao Song — accepted AI-conference papers

2023

VINet: Visual and Inertial-based Terrain Classification and Adaptive Navigation over Unknown Terrain

Tianrui Guan, Ruitao Song, Zhixian Ye, Liangjun Zhang

ICRA 2023poster

We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on unknown surfaces. Our proposed perception method and adaptive sch…

Cited by 12 Source ↗Scholar ↗

2022

TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators

Tianrui Guan, Zhenpeng He, Ruitao Song, Dinesh Manocha, Liangjun Zhang

RSS 2022poster

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and incorporate them into a global map for planning and navigatio…

Cited by 47 Source ↗PDF ↗code ↗Scholar ↗