66 citations · 98 across the 10 of their papers we have counts for
4 papers · 1 filter
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Alexander H. Chang, Shiyu Feng, Yipu Zhao +2
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and…
Characterizing SLAM Benchmarks and Methods for the Robust Perception Age
Wenkai Ye, Yipu Zhao, Patricio A. Vela
The diversity of SLAM benchmarks affords extensive testing of SLAM algorithms to understand their performance, individually or in relative terms. The ad-hoc creation of these bench…
Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM
Yipu Zhao, Patricio A. Vela
This paper aims to select features that contribute most to the pose estimation in VO/VSLAM. Unlike existing feature selection works that are focused on efficiency only, our method…
Low-latency Visual SLAM with Appearance-Enhanced Local Map Building
Yipu Zhao, Wenkai Ye, Patricio A. Vela
A local map module is often implemented in modern VO/VSLAM systems to improve data association and pose estimation. Conventionally, the local map contents are determined by co-visi…