4 papers
Last-Meter Precision Navigation for UAVs: A Diffusion-Refined Aerial Visual Servoing Approach
Yaxuan Li, Jiarui Zeng, Shaofei Huang +1
In this work, we study the last-meter precision navigation for UAVs, e.g., autonomously reaching a target within the final 10 meters using monocular vision. This task is challengin…
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4
We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a team of robots equipped with LiDAR, cameras, and inertial sensors. O…
Above and Below: Heterogeneous Multi-robot SLAM Across Surface and Underwater Domains
John McConnell, Armon Shariati, Paul Szenher +1
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of thei…
CVD-SfM: A Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes
Yaxuan Li, Yewei Huang, Bijay Gaudel +2
We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse…