5 papers
FlatManifold: Robust Continual Learning under Severe Label Noise and Domain Shifts via Intrinsic Manifold Flattening
Rai Hisada, Kanji Tanaka
In non-stationary streaming environments, simultaneously adapting to complex, non-linear domain shifts via continual learning while mitigating the catastrophic effects of severe, u…
FlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
Rai Hisada, Kanji Tanaka
This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the trade-off between map lightweightness and localization accuracy in visual pla…
A Dual-Stream Transformer Architecture for Illumination-Invariant TIR-LiDAR Person Tracking
Yuki Minase, Kanji Tanaka
Robust person tracking is a critical capability for autonomous mobile robots operating in diverse and unpredictable environments. While RGB-D tracking has shown high precision, its…
Pole-centric Descriptors for Robust Robot Localization: Evaluation under Pole-at-Distance (PaD) Observations using the Small Pole Landmark (SPL) Dataset
Wuhao Xie, Kanji Tanaka
While pole-like structures are widely recognized as stable geometric anchors for long-term robot localization, their identification reliability degrades significantly under Pole-at…
Pole-Image: A Self-Supervised Pole-Anchored Descriptor for Long-Term LiDAR Localization and Map Maintenance
Wuhao Xie, Kanji Tanaka
Long-term autonomy for mobile robots requires both robust self-localization and reliable map maintenance. Conventional landmark-based methods face a fundamental trade-off between l…