7 accepted papers
LiDAR semantic segmentation is a key task in advanced autonomous driving systems. Projection-based methods exhibit real-time potential due to their efficiency, but suffer from inevitable 3D information loss and rely on time-consuming post-processing, limiting overall performance. To address this, we
To address the limitations inherent to conventional automated harvesting robots specifically their suboptimal success rates and risk of crop damage, we design a novel bot named AHPPEBot which is capable of autonomous harvesting based on crop phenotyping and pose estimation. Specifically, In phenotyp…
Cross-modality point cloud registration is confronted with significant challenges due to inherent differences in modalities between sensors. To deal with this problem, we propose FF-LOGO: a cross-modality point cloud registration framework with Feature Filtering and LOcal-Global Optimization. The cr…
Next best view (NBV) is a technology that finds the best view sequence for sensor to perform scanning based on partial information, which is the core part for robot active reconstruction. Traditional works are mostly based on the evaluation of candidate views through time-consuming volu-metric trans…
3D LiDAR sensors can provide 3D point clouds of the environment, and are widely used in automobile navigation; while 2D LiDAR sensors can only provide point cloud in a 2D sweeping plane, and then are only used for navigating robots of small height, e.g., floor mopping robots. In this letter, we prop
Convolution has been used for fast computation of reachability maps, but it has high computational costs when performing SE(3) convolution operations for general joint arrangements in industrial robots and 3D workspace. Its application is also limited to planar robots, 2D workspace, or robots with s…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space \mathcal{C}\mathcal{C} as one popular solution. Recently, machine learning methods have been introduced into sampling-based motion planning methods, whi…