熊光明
作者: 熊光明,罗震,孙冬,陶俊峰,唐泽月,吴超 (北京理工大学机械与车辆学院)
出处: 兵工学报 2024 第45卷 第3期 P893-906
关键词: 无人驾驶车辆;烟雾遮挡;红外相机;毫米波雷达;目标检测;目标跟踪;改进YOLOv4网络
摘要: 战场环境下无人驾驶车辆的感知系统易受烟雾、扬尘等天气的影响,对关键目标的检测与跟踪能力大大下降,造成目标漏检、目标误检、目标丢失等严重后果。针对该问题,开发毫米波雷达和红外相机融合系统,采用目标级融合方式建立简洁有效的融合规则,提炼和组合各传感器的优势信息,最终输出稳定的目标感知结果。对毫米波雷达的 ...
作者: Zhou, Zijie1;Xu, Jingyi2;Xiong, Guangming1;Ma, Junyi1,3 (1Beijing Inst Technol, Beijing 100081, Peoples R China.;2Shanghai Jiao Tong Univ, Shanghai 200240, Peoples R China.;3HAOMOAI Technol Co Ltd, Beijing 100081, Peoples R China.)
出处: IEEE ROBOTICS AND AUTOMATION LETTERS 2024 Vol.9 No.2 P1342-1349
关键词: DISTINCTIVE IMAGE FEATURES
摘要: Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environmen ...
作者: Hu, Xiuzhong1; Xiong, Guangming1; Zang, Zheng1; Jia, Peng1; Han, Yuxuan1; Ma, Junyi1 (1School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China)
出处: IEEE Transactions on Intelligent Vehicles 2024 P1-14
作者: Hu, Xiuzhong1; Xiong, Guangming1; Zang, Zheng1; Jia, Peng1; Han, Yuxuan1; Ma, Junyi1 (1School of Mechanical Engineering, Beijing Institute of Technology, Beijing; 100081, China)
出处: arXiv 2024
作者: Tang, Yuepeng1; Yu, Quanfu1; Xiong, Guangming1
出处: 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 Hefei, China 2023
会议录: 116-121
作者: 熊光明,于全富,胡秀中,周子杰,许佳慧 (北京理工大学机械与车辆学院)
出处: 兵工学报 2023 第44卷 第3期 P841-850
关键词: 地面无人平台;多层建筑物;运动规划;自主导航
摘要: 针对在多层建筑物内无人平台的自主导航问题,提出一种考虑平台特性的运动规划框架。根据履带式平台的特点,采用零半径转向运动基元方案,并引入维诺路径,提高了全局规划在狭窄环境中的灵活性与安全性。经过分段三次Hermite插值得到平滑的全局路径。基于履带式平台运动模型,在轨迹预测的基础上,利用波阵值来提高局 ...
作者: Xiuzhong Hu;|Guangming Xiong;|Junyi Ma;|Gege Cui;|Quanfu Yu;|Shihao Li;|Zijie Zhou (1School of Mechanical Engineering, Beijing Institute of Technology, 100081 Beijing, China)
出处: Green Energy and Intelligent Transportation 2023 Vol.2 No.2 P100071
关键词: Unmanned vehicles;mapping;path planning;quadtree;dead-end
摘要: To reduce the complexity of large-scene high-resolution maps while using the dead-end information distributed in the unmanned vehicle driving environm ...
作者: Hu, Xiuzhong1; Xiong, Guangming1; Zang, Zheng1; Jia, Peng1; Han, Yuxuan1; Ma, Junyi1 (1The School of Mechanical Engineering, Beijing Institute of Technology, Beijing; 100081, China)
出处: arXiv 2023
作者: Ma,Junyi1;Xiong,Guangming1;Xu,Jingyi1;Chen,Xieyuanli2; (1Beijing Institute of Technology, Beijing, China;2National University of Defense Technology, Changsha, China)
出处: IEEE Transactions on Industrial Informatics 2023 P1-10
摘要: LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied e ...
作者: Zhou, Zijie1; Xu, Jingyi1; Xiong, Guangming1; Ma, Junyi1 (1Beijing Institute of Technology, China)
出处: arXiv 2023