Weixin Ma — accepted AI-conference papers

2025

TripletLoc: One-Shot Global Localization Using Semantic Triplet in Urban Environments

Weixin Ma, Huan Yin, Patricia J. Y. Wong, Danwei Wang, Yuxiang Sun, Zhongqing Su

RA-L 2025

This study presents a system, TripletLoc, for fast and robust global registration of a single LiDAR scan to a large-scale reference map. In contrast to conventional methods using place recognition and point cloud registration, TripletLoc directly generates correspondences on lightweight semantics, w

Cited by 7 Source ↗Scholar ↗

2024

Triplet-Graph: Global Metric Localization Based on Semantic Triplet Graph for Autonomous Vehicles

Weixin Ma, Shoudong Huang, Yuxiang Sun

RA-L 2024

Global metric localization is one of the fundamental capabilities for autonomous vehicles. Most existing methods rely on global navigation satellite systems (GNSS). Some methods relieve the need of GNSS by using 3-D LiDARs. They first achieve place recognition with a pre-built geo-referenced point-c

Cited by 18 Source ↗Scholar ↗