arXiv subjects

Shuangyan Liu

Publications and source records attributed to Shuangyan Liu.

2 recordsLinked to original sources

arXiv2026

i2Nav-Robot: A Large-Scale Indoor-Outdoor Robot Dataset for Multi-Sensor Fusion Navigation

Accurate and reliable navigation is crucial for autonomous unmanned ground vehicles (UGVs). However, current UGV datasets fall short in meeting the demands for advancing navigation techniques due to limitations in sensor configuration, time synchronization, ground truth, and scenario diversity. Hence, we present i2Nav-Robot, a large-scale dataset designed for multi-sensor fusion navigation in indoor-outdoor environments. We integrate multi-modal navigation sensors, including the newest front-view and 360-degree solid-state LiDARs, 4-dimensional (4D) millimeter-wave (MMW) radar, stereo cameras, inertial measurement units (IMU), global navigation satellite system (GNSS) receivers, and wheeled odometers on an omnidirectional wheeled vehicle. Accurate timestamps are obtained through both online hardware synchronization and offline calibration for all sensors. The dataset includes ten large-scale sequences covering diverse UGV operating scenarios, such as outdoor streets and indoor parking lots, with a total length of about 17060 meters. High-rate, reliable, and fully covered ground truth, with centimeter-level positioning, is derived from post-processing integrated navigation methods using a high-grade IMU. The proposed i2Nav-Robot dataset is evaluated by 15 open-sourced multi-sensor fusion navigation methods, demonstrating its superior data quality and utility for advancing vehicular navigation research. The i2Nav-Robot dataset together with the documents can be accessed on GitHub (https://github.com/i2Nav-WHU/i2Nav-Robot).

cs.RO↗

arXiv2024

Many-body hybrid Excitons in Organic-Inorganic van der Waals Heterostructures

The coherent many-body interaction at the organic-inorganic interface can give rise to intriguing hybrid excitons that combine the advantages of the Wannier-Mott and Frenkel excitons simultaneously. Unlike the 2D inorganic heterostructures that suffer from moment mismatch, the hybrid excitons formed at the organic-inorganic interface have a momentum-direct nature, which have yet to be explored. Here, we report hybrid excitons at the copper phthalocyanine/molybdenum diselenide (CuPc/MoSe2) interface with strong molecular orientation dependence using low-temperature photoluminescence spectroscopy. The new emission peaks observed in the CuPc/MoSe2 heterostructure indicate the formation of interfacial hybrid excitons. The density functional theory (DFT) calculation confirms the strong hybridization between the lowest unoccupied molecular orbital (LUMO) of CuPc and the conduction band minimum (CBM) of MoSe2, suggesting that the hybrid excitons consist of electrons extended in both layers and holes confined in individual layers. The temperature-dependent measurements show that the hybrid excitons can gain the signatures of the Frenkel excitons of CuPc and the Wannier-Mott excitons of MoSe2 simultaneously. The out-of-plane molecular orientation is used to tailor the interfacial hybrid exciton states. Our results reveal the hybrid excitons at the CuPc/MoSe2 interface with tunability by molecular orientation, which suggests that the emerging organic-inorganic heterostructure can be a promising platform for many-body exciton physics.

physics.optics↗