66 citations · 98 across the 10 of their papers we have counts for
10 papers
OmniPose6D: Towards Short-Term Object Pose Tracking in Dynamic Scenes from Monocular RGB
Yunzhi Lin, Yipu Zhao, Fu-Jen Chu +6
To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mi…
Long-term Visual Map Sparsification with Heterogeneous GNN
Ming-Fang Chang, Yipu Zhao, Rajvi Shah +3
We address the problem of map sparsification for long-term visual localization. For map sparsification, a commonly employed assumption is that the pre-build map and the later captu…
Image-Based Trajectory Tracking through Unknown Environments without Absolute Positioning
Shiyu Feng, Zixuan Wu, Yipu Zhao +1
This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map…
Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM
Yipu Zhao, Justin S. Smith, Patricio A. Vela
The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical characteristic of resource-limited applications. While hardware and algorithm advances have been significantly i…
Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
Yipu Zhao, Justin S. Smith, Sambhu H. Karumanchi +1
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated wi…
Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency
Yipu Zhao, Patricio A. Vela
Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing performance (accuracy & robustness) and efficiency (latency). Feature-based systems exhibit good performance…