5 papers
ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras
Mingrui Liu, Xingxing Zuo, Renlang Huang +3
This work presents a visual odometry (VO) system that leverages image edge features. Edges are spatially expressive cues commonly present across diverse environments, offering rich…
StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video
Huajian Zeng, Chaohua Yao, Yuantai Zhang +3
Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track th…
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5
Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Des…
Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline
Zhaoying Wang, Xingxing Zuo, Wei Dong
Lightweight long-range mapping is critical for safe navigation of UAV swarms in large-scale unknown environments. Traditional stereo vision systems with fixed short baselines face…
MonoTher-Depth: Enhancing Thermal Depth Estimation via Confidence-Aware Distillation
Xingxing Zuo, Nikhil Ranganathan, Connor Lee +2
Monocular depth estimation (MDE) from thermal images is a crucial technology for robotic systems operating in challenging conditions such as fog, smoke, and low light. The limited…