Tsung-Wun (David) Wang

Tsung-Wun (David) Wang

Engineer

Research Contributions

My master’s thesis can be categorized into three parts, from 3D reconstruction to 3D and 2D navigation of AMRs.

  • Title: Improved Real-Time Dense ORB SLAM with GPU Implementation
    • Authors: Tsung-Wun Wang, Han-Pang Huang, Chiou-Shann Fuh
    • Status: Accepted (August 2023) by the 36th IPPR Conference on Computer Vision, Graphics, and Image Processing, Kinmen, Taiwan.
    • Contribution: This paper presents a GPU-accelerated RGB-D SLAM module that enhances real-time performance and depth measurement quality, crucial for effective 3D reconstruction in robotics.
  • Title: Vision-Guided Autonomous Robot Navigation in Realistic 3D Dynamic Scenarios
    • Authors: Tsung-Wun Wang, Han-Pang Huang, Yu-Lin Zhao
    • Status: Published (February 2025) by Applied Sciences.
    • Contribution: This work introduces a comprehensive navigation system for mobile robots that integrates SLAM with dynamic obstacle avoidance, addressing real-time challenges in 3D environments.
  • Title: Search-based Path Replanning for Autonomous Navigation and Obstacle Avoidance
    • Authors: Tsung-Wun Wang, Han-Pang Huang, Yu-Lin Zhao, and Cheng-Chi Lee
    • Status: Accepted (November 2024) by the 21th International Conference on Automation Technology, Taipei, Taiwan.
    • Contribution: This paper analyzes search-based pathfinding algorithms for 2D navigation, enhancing real-time obstacle avoidance strategies in dynamic settings.


In addition to the above-mentioned research fields, GMapping and navigation mesh (NavMesh) are also of interest to me. For example, I

  • Conducted two-dimensional (2D) LiDAR SLAM and presented modified GMapping that addresses loop-closing.
  • Developed different pathfinding algorithms on navigation mesh (NavMesh) and implemented the path replanning mechanism.

Although two of the journal papers were recently rejected, I view this as an opportunity for further refinement and development. If you are interested in discussing any of these topics or my research in more detail, please feel free to contact me directly via email. Thank you!