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cs.RO2024
GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection
Jingwen Yu, Hanjing Ye, Jianhao Jiao +2
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited pla…
cs.RO2024
HPPS: A Hierarchical Progressive Perception System for Luggage Trolley Detection and Localization at Airports
Zhirui Sun, Zhe Zhang, Jieting Zhao +2
The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys at airports. However, existing methods for detecting and…
cs.RO2024
Human Orientation Estimation under Partial Observation
Jieting Zhao, Hanjing Ye, Yu Zhan +2
Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under…