Yuezu Lv — accepted AI-conference papers

2026

Manageable Convex Region Iteration Without Half-Plane Optimization for Robot Navigation in 2D Cluttered Scenes

Yinsong Qu, Yunxiang Li, Yudong Guo, Weiyun Yi, Hanwen Cui, Yuezu Lv +1

RA-L 2026

To address path safety and algorithm efficiency challenges in robot navigation within complex environments, this paper proposes an integrated path optimization-following framework with a novel Manageable Convex Region Iteration without Half-Plane Optimization (MCRIwHPO). The path planning problem is

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2026

Orthogonal Ray Projection: A Tangent-Space Visual Measurement Model for Robust Visual-Inertial Odometry

Bing Han, Tuan Li, Yuezu Lv, Weisong Wen, Zhipeng Wang, Chuang Shi

RA-L 2026

The reprojection error in Visual-Inertial Odometry (VIO) suffers from high nonlinearity due to perspective division, which degrades estimator consistency and robustness, particularly under large depth uncertainty. To address this, we propose a novel visual measurement model, the Orthogonal Ray Proje

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