20 citations · 61 across the 32 of their papers we have counts for
5 papers · 1 filter
MAC-I: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration
Xiang Fei, Yuheng Qiu, Can Xu +5
Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Exis…
AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
Yuheng Qiu, Can Xu, Yutian Chen +3
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing le…
MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry
Yuheng Qiu, Yutian Chen, Zihao Zhang +2
We propose the MAC-VO, a novel learning-based stereo VO that leverages the learned metrics-aware matching uncertainty for dual purposes: selecting keypoint and weighing the residua…
AirIMU: Learning Uncertainty Propagation for Inertial Odometry
Yuheng Qiu, Chen Wang, Can Xu +4
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Pr…
PyPose v0.6: The Imperative Programming Interface for Robotics
Zitong Zhan, Xiangfu Li, Qihang Li +33
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has…