4 papers
Robust Multimodal Dynamic Object Segmentation
Zhe Xin, Hanzhi Chang, Penghui Huang +2
Dynamic object segmentation plays a critical role in many visual applications such as static scene reconstruction from dynamic videos. However, existing optical flow-based methods…
Consistent and Efficient MSCKF-based LiDAR-Inertial Odometry with Inferred Cluster-to-Plane Constraints for UAVs
Jinwen Zhu, Xudong Zhao, Fangcheng Zhu +4
Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-o…
Large-Scale Gaussian Splatting SLAM
Zhe Xin, Chenyang Wu, Penghui Huang +3
The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative me…
Robust 4D Radar-aided Inertial Navigation for Aerial Vehicles
Jinwen Zhu, Jun Hu, Xudong Zhao +3
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can pro…