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Hierarchical Topometric Representation of 3D Robotic Maps



Zhenpeng He , Hao Sun , Jiawei Hou , Yajun Ha , Sören Schwertfeger

* Autonomous Robots (2021): 1-17 
* Temporarily 

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TTM: Terrain Traversability Mapping for Autonomous Excavator Navigation in Unstructured Environments



Tianrui Guan , Zhenpeng He , Dinesh Manocha , Liangjun Zhang


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Improved Visual-Inertial Localization for Low-cost Rescue Robots



Xiaoling Long , Qingwen Xu , Yijun Yuan , Zhenpeng He , Sören Schwertfeger

* accepted by IFAC World Congress 2020 

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Advanced Mapping Robot and High-Resolution Dataset



Hongyu Chen , Zhijie Yang , Xiting Zhao , Guangyuan Weng , Haochuan Wan , Jianwen Luo , Xiaoya Ye , Zehao Zhao , Zhenpeng He , Yongxia Shen , Sören Schwertfeger

* arXiv admin note: substantial text overlap with arXiv:1905.09483 

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Furniture Free Mapping using 3D Lidars



Zhenpeng He , Jiawei Hou , Sören Schwertfeger


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Furniture Free Mapping



Zhenpeng He , Jiawei Hou , Sören Schwertfeger


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Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets



Hongyu Chen , Xiting Zhao , Jianwen Luo , Zhijie Yang , Zehao Zhao , Haochuan Wan , Xiaoya Ye , Guangyuan Weng , Zhenpeng He , Tian Dong , Sören Schwertfeger


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