Published in arxiv, 2025
Dynamic-ICP is a Doppler-aware variant of ICP that explicitly models scene dynamics and fast ego motion.
Recommended citation: Dong Wang, Daniel Casado Herraez, Stefan May, Andreas Nüchter (2025). "Dynamic-ICP: Doppler-Aware Iterative Closest Point Registration for Dynamic Scenes." arxiv, 10(4).
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Published in IEEE Robotics & Automation Letters, 2025
RaI-SLAM fuses FMCW radar and IMU data in a graph-based backend, achieving LiDAR-level accuracy in large-scale outdoor scenes without relying on laser scans.
Recommended citation: Daniel Casado Herraez, Matthias Zeller, Dong Wang, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss (2025). "RaI-SLAM: Radar-inertial SLAM for Autonomous Vehicles." IEEE Robotics & Automation Letters, 10(5).
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Published in IEEE Robotics & Automation Letters, 2025
By injecting Doppler velocity into both radar and LiDAR constraints, Doppler-SLAM suppresses drift in highly dynamic urban environments.
Recommended citation: Dong Wang, Hannes Haag, Daniel Casado Herraez, Stefan May, Cyrill Stachniss, Andreas Nüchter (2025). "Doppler-SLAM: Doppler-aided Radar/LiDAR-inertial SLAM." IEEE Robotics & Automation Letters, 10(4).
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Published in Master's Thesis, Friedrich-Alexander-Universität Erlangen–Nürnberg (FAU), 2020
Dynamic-ICP is a Doppler-aware variant of ICP that explicitly models scene dynamics and fast ego motion.
Recommended citation: Dong Wang (2020). "Konzeptionierung und Umsetzung eines Frameworks zur dreidimensionalen Routenplanung einer Flotte autonomer Flugroboter." Master’s thesis, Friedrich-Alexander-Universität Erlangen–Nürnberg.
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Published in Proc. IEEE CASE 2024, 2024
RIV-SLAM combines millimetre-wave radar, an IMU and wheel-odometry velocity to achieve centimetre-level accuracy on AMRs in warehouses.
Recommended citation: Dong Wang, Stefan May, Andreas Nüchter (2024). "RIV-SLAM: Radar–Inertial–Velocity Optimisation Based Graph SLAM." *IEEE International Conference on Automation Science and Engineering* (CASE 2024).
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Published in RoboCup 2024, 2024
This paper presents the team AutonOhm and their solutions to the challenges of the RoboCup@ Work league. .
Published in IEEE CASE 2023, 2023
We present a lightweight MCL framework that exploits a hybrid IR-radar sensor to achieve reliable 6-DoF localisation on low-cost robots.
Recommended citation: Dong Wang, Marco Masannek, Stefan May, Andreas Nüchter (2023). "Infradar-Localization: Single-chip Infrared- and Radar-based Monte Carlo Localization." Proc. IEEE International Conference on Automation Science and Engineering (CASE 2023).
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Published in RoboCup 2023, 2023
This paper presents the team AutonOhm and their solutions to the challenges of the RoboCup@ Work league. .