Ji Zhang - Graduate Student
The Field Robotics Center (FRC)
At The Robotics Institute of Carnegie Mellon University

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Publications

J. Zhang and S. Singh. Realtime Lidar Odometry and Mapping for Robotic Applications. Working Paper. (Video)

J. Zhang, A. Chambers, S.Maeta, M. Bergerman, S. Singh. 3D Perception for Accurate Row Following: Methodology and Results. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Tokyo, Japan, Nov. 2013. (Video)

J. Zhang, G. Kantor, M. Bergerman, S. Singh. Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Vilamoura, Portugal, Oct. 2012. (PDF) (Video)

J. Zhang, S. Singh, G. Kantor. Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain. The 8th Intl. Conf. on Field and Service Robots (FSR). Matsushima, Japan, July 2012. (PDF) (Video)

Projects

Lidar Odometry and Mapping (Loam): Realtime state estimation and mapping using a 3D lidar and optionally an IMU (Video)

•    Back and forth spin version (Web) (Code)
          Datasets: NSH staircase, NSH undulating motion (more data will be published)

•    Continuous spin version (Web) (Code)
          Datasets: Schenley bridge (more data will be published)

Tools

ROS driver for Xsens MTi-10 and MTi-100 series Motion Trackers (Web)(Code)