Search Results for author: Zezhou Sun

Found 2 papers, 1 papers with code

Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration

1 code implementation7 Sep 2020 Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay E. Sarma, Jian Yang, Hui Kong

We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization.

LiDAR Iris for Loop-Closure Detection

no code implementations9 Dec 2019 Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, Hui Kong

In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection.

Loop Closure Detection

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