A Coarse-to-Fine LiDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas

Abstract

His research interests including localization and sensor fusion for autonomous driving.Shen Donghui received his bachelor's degree from Shandong University in Space Science and Technology in 2017 and MSc in Space Physics at Shandong University in 2020. His research interests including 3D perception and HD Map updating for autonomous driving.Weisong Wen was born in Ganzhou, Jiangxi, China. He received a Ph.D. degree in mechanical engineering, the Hong Kong Polytechnic University, in 2020. He is currently a senior research fellow at the Hong Kong Polytechnic University. His research interests include multi-sensor integrated localization for autonomous vehicles, SLAM, and GNSS positioning in urban canyons. He was a visiting student researcher at the University of California, Berkeley (UCB) in 2018.ZHANG Jiachen received her bachelor's degree from Tianjin University in Information Engineering in 2016 and is currently an enrolled, full-time graduate student at Tianjin University, majoring in Optical Engineering. She is working as a research assistant in the Intelligent Positioning and Navigation Laboratory. Her research interests including localization and sensor fusion for autonomous driving.Li-Ta Hsu received the B.S. and Ph.D. degrees in aeronautics and astronautics from National Cheng Kung University, Taiwan, in 2007 and 2013, respectively. He is currently an assistant professor with the Division of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, before he served as post-doctoral researcher in Institute of Industrial Science at University of Tokyo, Japan. In 2012, he was a visiting scholar in University College London, U.K. He was a technical representative in ION in 2019-2021 and is an Associate Fellow of RIN. His research interests include GNSS positioning in challenging environments and localization for pedestrian, autonomous driving vehicle and unmanned aerial vehicle.