10 papers
Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Yueteng Yang, Yusen Xie, Hao Wei +5
Multi-camera visual-inertial odometry (VIO) overcomes the inherent limitations of pure visual systems by expanding the field of view. However, existing algorithms are typically tai…
UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering
Yusen Xie, Zhenmin Huang, Jianhao Jiao +2
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framew…
Orchestrate, Generate, Reflect: A VLM-Based Multi-Agent Collaboration Framework for Automated Driving Policy Learning
Zengqi Peng, Yusen Xie, Yubin Wang +3
The advancement of foundation models fosters new initiatives for policy learning in achieving safe and efficient autonomous driving. However, a critical bottleneck lies in the manu…
Semantic-LiDAR-Inertial-Wheel Odometry Fusion for Robust Localization in Large-Scale Dynamic Environments
Haoxuan Jiang, Peicong Qian, Yusen Xie +4
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introd…
Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving
Yusen Xie, Zhengmin Huang, Shaojie Shen +1
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consi…
DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios
Haoxuan Jiang, Peicong Qian, Yusen Xie +3
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environm…