7 papers
AE-UAV: An Air-to-Air Event-Based UAV Tracking Benchmark and a Real-Time Frequency-Domain Tracker
Zixin Jiang, Bing He, Chaoran Xiong +3
The paper introduces AE-UAV, the first event-camera dataset for air-to-air UAV tracking, and proposes a lightweight, training-free frequency-domain tracker (FSFT) that runs at 420…
Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN
Ziyi Xia, Chaoran Xiong, Litao Wei +2
Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically dri…
SFCo-Nav: Efficient Zero-Shot Visual Language Navigation via Collaboration of Slow LLM and Fast Attributed Graph Alignment
Chaoran Xiong, Litao Wei, Xinhao Hu +5
Recent advances in large vision-language models (VLMs) and large language models (LLMs) have enabled zero-shot approaches to visual language navigation (VLN), where an agent follow…
M-SEVIQ: A Multi-band Stereo Event Visual-Inertial Quadruped-based Dataset for Perception under Rapid Motion and Challenging Illumination
Jingcheng Cao, Chaoran Xiong, Jianmin Song +3
Agile locomotion in legged robots poses significant challenges for visual perception. Traditional frame-based cameras often fail in these scenarios for producing blurred images, pa…
Sensing, Social, and Motion Intelligence in Embodied Navigation: A Comprehensive Survey
Chaoran Xiong, Yulong Huang, Fangwen Yu +4
Embodied navigation (EN) advances traditional navigation by enabling robots to perform complex egocentric tasks through sensing, social, and motion intelligence. In contrast to cla…
A2I-Calib: An Anti-noise Active Multi-IMU Spatial-temporal Calibration Framework for Legged Robots
Chaoran Xiong, Fangyu Jiang, Kehui Ma +3
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. Howev…