8 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…
Palm-sized Omnidirectional Vision-Based UAV Exploration with Sparse Topological Map Guidance
Zirui Wang, Xinjia Luo, Haotian Sun +3
Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption…
Synergizing Efficiency and Reliability for Continuous Mobile Manipulation
Chengkai Wu, Ruilin Wang, Yixin Zeng +7
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliabilit…
C-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration
Xinlu Yan, Mingjie Zhang, Yuhao Fang +5
Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose h…
GUIDE: A Diffusion-Based Autonomous Robot Exploration Framework Using Global Graph Inference
Zijun Che, Yinghong Zhang, Shengyi Liang +3
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan…
ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion
Mingjie Zhang, Yuheng Du, Chengkai Wu +4
Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making m…