Zhihao Wang's research while affiliated with Harbin Institute of Technology Shenzhen Graduate School and other places
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Publications (10)
Autonomous exploration is a fundamental problem for certain applications of unmanned ground vehicles (UGVs). Depth cameras are widely used in exploring indoor and specific outdoor environments. However, existing methods suffer from inefficient and unstable performance of exploration in open outdoor environments. This study develops a framework to a...
Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on Lidar-camera fusion is designed to detect the target objects. Based on the Hungarian algorithm, this paper des...
Visual simultaneous localization and mapping (vSLAM) is widely used in satellite-denied and open-field environments for ground and surface robots. However, due to frequent perception failures derived from featureless areas or the swing of robot view direction on rough terrains, the accuracy and robustness of vSLAM are still to be enhanced. This art...
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the {swing} of robot view direction on rough terrains, the accuracy and robustness of vSLAM are still to be enhanced....
To deal with emergencies and disasters without rescue workers being exposed to dangerous environments, this paper presents a mobile rescue robot, Earthshaker. As a combination of a tracked chassis and a six-degree-of-freedom robotic arm, as well as miscellaneous sensors and controllers, Earthshaker is capable of traversing diverse terrains and fulf...
Localization on 3D data is a challenging task for unmanned vehicles, especially in long-term dynamic urban scenarios. Due to the generality and long-term stability, the pole-like objects are very suitable as landmarks for unmanned vehicle localization in time-varing scenarios. In this paper, a long-term LiDAR-only localization algorithm based on se...
Citations
... However, the types of uncertainty targeted are different. The exploration approach proposed by Wang et al. for rapid and secure autonomous exploration only considers uncertainty related to movement [15]. In contrast, this study also considers uncertainty related to semantic information. ...
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... That becomes important if the user cannot see the robot directly. Several studies have displayed visualizations of robot teleoperation using computer displays including Zhang et al. [55]who created a rescue robot and then, Senft et al. [56] makes telemanipulation on the robotic arm. Apart from using computers, some studies use smartphones for camera visualization including Ainasoja et al. [57], and using augmented reality also virtual reality headset for camera visualization including Dardona et al. [58], Gonzalez et al. [59], Kot et al. [60], Wibowo et al. [61], Stotko et al. [62], Solanes et al. [63], and Doki et al. [64]. ...
![[object Object]](https://i1.rgstatic.net/ii/profile.image/272461849690154-1441971375685_Q64/Shiwu-Zhang-2.jpg)
... To improve the efficiency and accuracy of the identification, Fan et al. [21] classified tree species based on the PointNet++ algorithm and verified the feasibility of classifying point clouds collected by an airborne lidar. Wang et al. [22] designed a clustering association algorithm based on geometric consistency for the long-term positioning of driverless cars in dynamic urban scenarios. Milioto et al. [23] proposed a laser point cloud semantic segmentation RangeNet++ algorithm, which extracted features on the distance image by 2D convolutional neural network, providing a new method for 3D point cloud semantic segmentation. ...
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