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Le Xie - IEEE Xplore Author Profile

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Author details

Le Xie

Publications

37

Citations

273

Publications by Year

20142025

Co-Authors:

Weibang BaiPierre Berthet-RayneYongfeng CaoZhenggang CaoGang Chai

Show All Co-Authors (69)

Le Xie

Affiliation

Institute of Forming Technology and Equipment and the Institute of Medical Robotics

Shanghai Jiao Tong University

Shanghai, China

Publication Topics

Robotic System,
Continuum Robots,
Force Sensor,
Surgeons,
Actuator,
Contact Force,
Robotic Arm,
Active Disturbance Rejection Control,
Bending Angle,
Compliance Control,
Control Method,
Control Performance

Biography

Le Xie (Member, IEEE) received the B.Sc. degree in mathematics from East China Normal University, Shanghai, China, in 1985, and the M.S. and Ph.D. degrees in manufacture of aeronautics and astronautics from Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 1995 and in 1999, respectively.,He is currently a Professor with the Institute of Forming Technology & Equipment, and Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. His research interests include surgical robots and rehabilitation robots.(Based on document published on 4 January 2024).

Publications

37

Citations

273

Publications by Year

20142025

Co-Authors:

Weibang Bai
Pierre Berthet-Rayne
Yongfeng Cao
Zhenggang Cao
Gang Chai

Show All Co-Authors (69)

Author's Published Works

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Showing 1-25 of 37 results

Conferences (25)

Journals (11)

Early Access Articles (1)

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Le Xie(37)
Yongfeng Cao(11)
Shuang Wang(10)
Hesheng Wang(10)
Zheng Liu(8)
Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China(8)
School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China(7)
Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China(6)
Department of Automation, Shanghai Jiao Tong University, Shanghai, China(6)
Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, China(3)
2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)(3)
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)(3)
IEEE/ASME Transactions on Mechatronics(3)
2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)(2)
IEEE Access(2)
IEEE(37)
Media(6)
Guiyang, China(3)
Jinghong, China(3)
Okinawa, Japan(2)
Alesund, Norway(1)
Angkor Wat, Cambodia(1)
Robotic System(20)
Surgeons(11)
Actuator(10)
Force Feedback(10)
Continuum Robots(9)

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Results

Biomechanics-Based Collaborative Manipulation Method for an Ultrasound-Guided Puncture Robot

Zheng Liu;Shuang Wang;Qianlin Dai;Zhenggang Cao;Li Lin;Le Xie

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2025 | Early Access Article |

Percutaneous puncture surgery is commonly used for effective diagnosis and treatment. However, the popular manual manipulation brings in positional unsteadiness which increases the suffering of patients. In this study, a collaborative method is proposed by taking into the surgeon’s skills and the robotic stable operation. In this scheme, a modified compliance controller with a biomechanics-based a...Show More

Biomechanics-Based Collaborative Manipulation Method for an Ultrasound-Guided Puncture Robot

Zheng Liu;Shuang Wang;Qianlin Dai;Zhenggang Cao;Li Lin;Le Xie

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2025 | Early Access Article |

Active Disturbance Rejection Control With Data-Driven Compensation for a Novel Extensible Continuum Robot

Zefeng Liu;Wentuo Yang;Yongfeng Cao;Le Xie

Year: 2025 | Volume: 13 | Journal Article |

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Continuum robots (CRs) are widely used in minimally invasive surgery due to their inherent flexibility, compliance, and ease of miniaturization. To overcome the limitations of existing CRs in terms of operation dexterity, we design a novel extensible CR that combines spring structures and rod actuation. This design features a slim profile, large working channels, and the ability to independently c...Show More

Active Disturbance Rejection Control With Data-Driven Compensation for a Novel Extensible Continuum Robot

Zefeng Liu;Wentuo Yang;Yongfeng Cao;Le Xie

Year: 2025 | Volume: 13 | Journal Article |

An Autonomous Guidewire Delivery Method With Distal Position-Based Impedance Control

Zheng Liu;Shuang Wang;Yongfeng Cao;Zhenggang Cao;Li Lin;Le Xie

IEEE Transactions on Automation Science and Engineering

Year: 2025 | Volume: 22 | Journal Article |

Cited by: Papers (1)

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Leader-follower robotic guidewire delivery system has been a research focus in terms of vascular interventional surgery (VIS) for a few years. However, due to the inconvenient operations and lack of intuition in leader robot manipulation, such systems are not widely used. To get rid of cumbersome operations and promote the safety of guidewire delivery in a VIS, the first autonomous guidewire deliv...Show More

An Autonomous Guidewire Delivery Method With Distal Position-Based Impedance Control

Zheng Liu;Shuang Wang;Yongfeng Cao;Zhenggang Cao;Li Lin;Le Xie

IEEE Transactions on Automation Science and Engineering

Year: 2025 | Volume: 22 | Journal Article |

Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Muyang Hou;Zhenya Lei;Haidong Hu;Zhong Wang;Yong Wang;Le Xie;Hesheng Wang

2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2024 | Conference Paper |

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Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant; on the other hand, service robots, which have a higher center of gravity, deman...Show More

Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Muyang Hou;Zhenya Lei;Haidong Hu;Zhong Wang;Yong Wang;Le Xie;Hesheng Wang

2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2024 | Conference Paper |

RoESS: A Dual-arm Continuum Robotic System for Endoscopic Sinus Surgery

Wentuo Yang;Yongfeng Cao;Yuxuan Shi;Xicai Sun;Peidong Dai;Xionghui Zhou;Hongmeng Yu;Le Xie

2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2024 | Conference Paper |

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Continuum robots have gained recognition as a promising treatment modality for endoscopic sinus surgery. In many real-world scenarios, tasks often require the collaborative efforts of multiple manipulators, thus necessitating the use of dual-arm robotic systems. This paper proposes a dual-arm continuum robotic system for endoscopic sinus surgery, comprising a manipulating arm and an endoscope arm....Show More

RoESS: A Dual-arm Continuum Robotic System for Endoscopic Sinus Surgery

Wentuo Yang;Yongfeng Cao;Yuxuan Shi;Xicai Sun;Peidong Dai;Xionghui Zhou;Hongmeng Yu;Le Xie

2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2024 | Conference Paper |

Improved Trajectory Tracking Control for a Continuum Robot Using Error-Driven ADRC With Input Mapping Method

Yongfeng Cao;Wentuo Yang;Shuang Wang;Shaoying He;Zheng Liu;Le Xie

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 10 | Journal Article |

Cited by: Papers (2)

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Continuum robots (CRs) have drawn increasing attention owing to their unique ability to operate in constrained environments. However, due to the deformability and compliant structures of CRs, parametric uncertainties and disturbances always exist in the CR system, which makes it a challenge to design high-performance controllers using conventional feedback control. In this article, we propose an e...Show More

Improved Trajectory Tracking Control for a Continuum Robot Using Error-Driven ADRC With Input Mapping Method

Yongfeng Cao;Wentuo Yang;Shuang Wang;Shaoying He;Zheng Liu;Le Xie

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 10 | Journal Article |

TCN-Based Distal Force Feedback Strategy of a Vascular Interventional Surgery Robot

Shuang Wang;Hao Shen;Zheng Liu;Le Xie

IEEE Sensors Journal

Year: 2024 | Volume: 24, Issue: 3 | Journal Article |

Cited by: Papers (2)

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Vascular interventional surgery (VIS) robot is a surgical treatment plan that effectively protects surgeons from X-ray radiation. However, the master–slave control method cuts off the surgeons’ natural force feedback, which increases the risk of surgical safety. Most VIS robotic systems use force sensors placed at the proximal end of the guidewire to achieve force feedback, but due to the nonrigid...Show More

TCN-Based Distal Force Feedback Strategy of a Vascular Interventional Surgery Robot

Shuang Wang;Hao Shen;Zheng Liu;Le Xie

IEEE Sensors Journal

Year: 2024 | Volume: 24, Issue: 3 | Journal Article |

Automatic Generation of Frontend Code from Design Interface

Xianyi He;Jize Wang;Zhe Liu;Le Xie;Hesheng Wang;Xinyi le

2023 13th International Conference on Information Science and Technology (ICIST)

Year: 2023 | Conference Paper |

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Internet technology is constantly evolving, and application software plays a crucial role in various fields. The development of various software relies heavily on the design of user interfaces and the corresponding code implementation. However, implementing front-end code is a highly repetitive and tedious task. Prior to designing the front-end interface based on the requirements document, designe...Show More

Automatic Generation of Frontend Code from Design Interface

Xianyi He;Jize Wang;Zhe Liu;Le Xie;Hesheng Wang;Xinyi le

2023 13th International Conference on Information Science and Technology (ICIST)

Year: 2023 | Conference Paper |

A General Huber Function Based Compliant Control Method for the Cooperative Puncture Surgery

Zheng Liu;Qianlin Dai;Shuang Wang;Le Xie

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2023 | Conference Paper |

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The positional smoothness and stability of the medical instrument is crucial in a surgery. However, the instrument is subject to disturbance from human muscle biological tremor. In case of puncture surgery, the needle insertion with positional jitters decreases the safety and curative effect of the surgery. In this study, we introduce the general expression of the Huber function which can suppress...Show More

A General Huber Function Based Compliant Control Method for the Cooperative Puncture Surgery

Zheng Liu;Qianlin Dai;Shuang Wang;Le Xie

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2023 | Conference Paper |

Learning-Based Multimodal Information Fusion and Behavior Recognition of Vascular Interventionists' Operating Skills

Shuang Wang;Zheng Liu;Wentuo Yang;Yongfeng Cao;Liang Zhao;Le Xie

IEEE Journal of Biomedical and Health Informatics

Year: 2023 | Volume: 27, Issue: 9 | Journal Article |

Cited by: Papers (3)

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The operating skills of vascular interventionists have an important impact on the effect of surgery. However, current research on behavior recognition and skills learning of interventionists' operating skills is limited. In this study, an innovative deep learning-based multimodal information fusion architecture is proposed for recognizing and analyzing eight common operating behaviors of intervent...Show More

Learning-Based Multimodal Information Fusion and Behavior Recognition of Vascular Interventionists' Operating Skills

Shuang Wang;Zheng Liu;Wentuo Yang;Yongfeng Cao;Liang Zhao;Le Xie

IEEE Journal of Biomedical and Health Informatics

Year: 2023 | Volume: 27, Issue: 9 | Journal Article |

Spatial Shape Sensing of a Multisection Continuum Robot With Integrated DTG Sensor for Maxillary Sinus Surgery

Yongfeng Cao;Zefeng Liu;Hailong Yu;Wuzhou Hong;Le Xie

IEEE/ASME Transactions on Mechatronics

Year: 2023 | Volume: 28, Issue: 2 | Journal Article |

Cited by: Papers (12)

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Owing to the curved and narrow pathway of the maxillary sinus, reaching blind regions using rigid instruments in the traditional method of treatment is difficult. In this article, a novel multisection continuum robot (CR) integrated with essential instruments and sensors is developed for the maxillary sinus surgery. Moreover, shape sensing is important for the control of the CR, but this is still ...Show More

Spatial Shape Sensing of a Multisection Continuum Robot With Integrated DTG Sensor for Maxillary Sinus Surgery

Yongfeng Cao;Zefeng Liu;Hailong Yu;Wuzhou Hong;Le Xie

IEEE/ASME Transactions on Mechatronics

Year: 2023 | Volume: 28, Issue: 2 | Journal Article |

Shape Sensing of a Soft Robot Using Fiber Bragg Gratings for Single-port Transvesical Radical Prostatectomy

Zefeng Liu;Ru Li;Yongfeng Cao;Fan Feng;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

Cited by: Papers (3)

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Robot-assisted laparoscopic radical prostatectomy is a common treatment for prostate cancer. Traditional rigid instruments, on the other hand, have operating blind areas and lack real-time position and shape feedback, which may result in additional trauma during the surgery. To this end, this work describes the development of a soft robot for single-port transvesical radical prostatectomy (STRP) u...Show More

Shape Sensing of a Soft Robot Using Fiber Bragg Gratings for Single-port Transvesical Radical Prostatectomy

Zefeng Liu;Ru Li;Yongfeng Cao;Fan Feng;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

Modeling and analysis of a CT-guided lung puncture robot

Ling Zhang;Shuang Wang;Xiongpeng Shu;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

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In this paper, a five-degree-of-freedom lung puncture biopsy surgical robot system was proposed to solve the clinical problem of small CT aperture and limited puncture space, and the overall size of the robot is within 20*20*20 cm. By kinematic analysis of the robot configuration, a working space that can completely cover the patient's chest was obtained. The design of the parallel manipulators wa...Show More

Modeling and analysis of a CT-guided lung puncture robot

Ling Zhang;Shuang Wang;Xiongpeng Shu;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

Study on Autonomous Delivery of Guidewire Based on Improved YOLOV5s on Vascular Model Platform

Shuang Wang;Zheng Liu;Xiongpeng Shu;Yongfeng Cao;Ling Zhang;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

Cited by: Papers (3)

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Cardiovascular interventional surgery robot is an effective means to solve the problem of X-ray radiation injury and physiological fatigue of surgeons. With the development of robotics, robotic autonomous surgery has become one of the research hotspots. However, the current intelligence level of cardiovascular interventional surgery robots is low. Aiming at the guidewire delivery process of the de...Show More

Study on Autonomous Delivery of Guidewire Based on Improved YOLOV5s on Vascular Model Platform

Shuang Wang;Zheng Liu;Xiongpeng Shu;Yongfeng Cao;Ling Zhang;Le Xie

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Year: 2022 | Conference Paper |

Optimal Control for a Modified Bouc-Wen Model in a Magnetorheological Fluid Master Robot

Zheng Liu;Shuang Wang;Yongfeng Cao;Hongyu Cheng;Le Xie

IEEE Robotics and Automation Letters

Year: 2022 | Volume: 7, Issue: 4 | Journal Article |

Cited by: Papers (3)

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Magnetorheological fluid (MRF) clutch is a kind of passive actuator with advantages, like fast response and low inertia. However, due to the complex natural property, it is difficult to model such devices accurately, and this leads to degraded performance. In this letter, a steady-state model and transient model are combined to describe the MRF clutch. In the steady-state part, hysteresis phenomen...Show More

Optimal Control for a Modified Bouc-Wen Model in a Magnetorheological Fluid Master Robot

Zheng Liu;Shuang Wang;Yongfeng Cao;Hongyu Cheng;Le Xie

IEEE Robotics and Automation Letters

Year: 2022 | Volume: 7, Issue: 4 | Journal Article |

Design and Validation of a Master-slave Continuum Robot for Maxillary Sinus Surgery

Yongfeng Cao;Fan Feng;Zefeng Liu;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

Cited by: Papers (5)

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Continuum robots (CRs) have been developed for maxillary sinus surgery (MSS) in recent years. However, due to the curved and narrow pathway of the maxillary sinus, and the deformability of the CR, accurately approaching the target in the sinus is still a challenge. In this paper, a CR integrated with essential instruments and sensors is developed for the MSS. To improve the maneuverability of the ...Show More

Design and Validation of a Master-slave Continuum Robot for Maxillary Sinus Surgery

Yongfeng Cao;Fan Feng;Zefeng Liu;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

Design of A Continuum Robot System with Object Detection for the Diagnosis of Vocal Fold Lesions

Fan Feng;Zefeng Liu;Yongfeng Cao;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

Cited by: Papers (1)

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Currently, on the one hand, continuum robots have been widely used for robot-assisted minimally invasive surgery. On the other hand, deep learning is also widely used in medical image detection and recognition. However, there is no robotic system that integrates those two technologies for vocal fold tissue lesion detection. Therefore, in this paper, we designed a continuum robot for diagnosing voc...Show More

Design of A Continuum Robot System with Object Detection for the Diagnosis of Vocal Fold Lesions

Fan Feng;Zefeng Liu;Yongfeng Cao;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

Design of the robotic system for natural orifice transluminal endoscopic surgery in urology

Xiongpeng Shu;Qi Chen;Peng Hua;Shuang Wang;Ling Zhang;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

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Flexible ureteroscopy is an important natural orifice transluminal endoscopic surgery in urology. It has the advantages of minimal invasion and high treatment efficiency. However, there remain some challenges and drawbacks in clinic. Although some robotic systems were developed to improve traditional flexible ureteroscopy, there are still some issues to be addressed, such as manipulating force sen...Show More

Design of the robotic system for natural orifice transluminal endoscopic surgery in urology

Xiongpeng Shu;Qi Chen;Peng Hua;Shuang Wang;Ling Zhang;Le Xie

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2022 | Conference Paper |

Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion

Zhongliang Jiang;Yuan Gao;Le Xie;Nassir Navab

IEEE Robotics and Automation Letters

Year: 2022 | Volume: 7, Issue: 3 | Journal Article |

Cited by: Papers (23)

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Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations between patients and relative movement of anatomical substructures, it is challenging to robustly generate optimal trajectories to examine the anatomies of interest, ...Show More

Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion

Zhongliang Jiang;Yuan Gao;Le Xie;Nassir Navab

IEEE Robotics and Automation Letters

Year: 2022 | Volume: 7, Issue: 3 | Journal Article |

A Two-Segment Continuum Robot With Piecewise Stiffness for Maxillary Sinus Surgery and Its Decoupling Method

Wuzhou Hong;Fan Feng;Le Xie;Guang-Zhong Yang

IEEE/ASME Transactions on Mechatronics

Year: 2022 | Volume: 27, Issue: 6 | Journal Article |

Cited by: Papers (35)

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With the use of tendon-driven continuum manipulators, it is possible to reach deep-seated small lesions in a constrained anatomical space. This circumvents the difficulties encountered by existing straight endoscopes and surgical instruments, which require direct line of sight access during inspection and operation. However, maintaining adequate stiffness while ensuring smoothness and flexibility ...Show More

A Two-Segment Continuum Robot With Piecewise Stiffness for Maxillary Sinus Surgery and Its Decoupling Method

Wuzhou Hong;Fan Feng;Le Xie;Guang-Zhong Yang

IEEE/ASME Transactions on Mechatronics

Year: 2022 | Volume: 27, Issue: 6 | Journal Article |

Design and Compensation Control of a Flexible Instrument for Endoscopic Surgery

Wuzhou Hong;Andreas Schmitz;Weibang Bai;Pierre Berthet-Rayne;Le Xie;Guang-Zhong Yang

2020 IEEE International Conference on Robotics and Automation (ICRA)

Year: 2020 | Conference Paper |

Cited by: Papers (17)

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Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulated wrists and rolling motion of the end-effector. This paper presents a new instrument design with a ...Show More

Design and Compensation Control of a Flexible Instrument for Endoscopic Surgery

Wuzhou Hong;Andreas Schmitz;Weibang Bai;Pierre Berthet-Rayne;Le Xie;Guang-Zhong Yang

2020 IEEE International Conference on Robotics and Automation (ICRA)

Year: 2020 | Conference Paper |

Design of 3D-Printed Flexible Joints With Presettable Stiffness for Surgical Robots

Fan Feng;Wuzhou Hong;Le Xie

Year: 2020 | Volume: 8 | Journal Article |

Cited by: Papers (26)

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Continuum manipulators have been widely used in minimally invasive surgery due to their high dexterity. However, different surgeries have different stiffness and dexterity requirements. This paper describes a continuum manipulator for robot-assisted surgery. The flexible part is a joint that can be 3D-printed using various materials. The flexible joints made of each material are of the same size b...Show More

Design of 3D-Printed Flexible Joints With Presettable Stiffness for Surgical Robots

Fan Feng;Wuzhou Hong;Le Xie

Year: 2020 | Volume: 8 | Journal Article |

Design of a minimal invasive robot system for hepatobiliary and pancreatic surgery

Cheng Xu;Jun Jiang;Le Xie;Xionghui Zhou

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2019 | Conference Paper |

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Small incision and narrow surgical vision has restrict the development of minimally invasive surgery (MIS). The traditional MIS needs the aid of endoscopic and hand-held surgical instruments, which requires cooperation between surgeons and assistants, thus bring challenges for the accuracy and safety of the operation. Compared with the bare-handed operation, the robot can achieve stable operation ...Show More

Design of a minimal invasive robot system for hepatobiliary and pancreatic surgery

Cheng Xu;Jun Jiang;Le Xie;Xionghui Zhou

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)

Year: 2019 | Conference Paper |

An Improved Scan Matching Method Based on Laser Reflection Intensity

Guojing Wu;Jingchuan Wang;Hesheng Wang;Le Xie;Peng Li

2019 Tenth International Conference on Intelligent Control and Information Processing (ICICIP)

Year: 2019 | Conference Paper |

Cited by: Papers (5)

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High-precision localization performance of mobile robots in featureless environments plays an important role in the field of navigation. This paper describes an effective localization solution using a landmark whose surface is covered with two different materials resulting in different laser reflection intensities. Based on the landmark, a feature extraction algorithm is proposed and an improved s...Show More

An Improved Scan Matching Method Based on Laser Reflection Intensity

Guojing Wu;Jingchuan Wang;Hesheng Wang;Le Xie;Peng Li

2019 Tenth International Conference on Intelligent Control and Information Processing (ICICIP)

Year: 2019 | Conference Paper |

Retrieval-based Localization Based on Domain-invariant Feature Learning under Changing Environments

Hanjiang Hu;Hesheng Wang;Zhe Liu;Chenguang Yang;Weidong Chen;Le Xie

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Year: 2019 | Conference Paper |

Cited by: Papers (20)

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Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying conditions (e.g. illumination changes, seasons, occlusion, dynamic objects), retrieval-based localization is severely hampered and becomes a challenging problem....Show More

Retrieval-based Localization Based on Domain-invariant Feature Learning under Changing Environments

Hanjiang Hu;Hesheng Wang;Zhe Liu;Chenguang Yang;Weidong Chen;Le Xie

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Year: 2019 | Conference Paper |

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