Zhenpeng He — accepted AI-conference papers

2023

FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization

Delin Feng, Zhenpeng He, Jiawei Hou, Sören Schwertfeger, Liangjun Zhang

ICRA 2023poster

Given a building floorplan, humans can localize themselves by matching the observation of the environment with the floorplan using geometric, semantic, and topological clues. Inspired by this insight, this paper proposes a learning- based topometric robot localization method FloorplanNet, which impl…

Cited by 9 Source ↗code ↗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 ↗