3 papers
cs.RO2025
A2I-Calib: An Anti-noise Active Multi-IMU Spatial-temporal Calibration Framework for Legged Robots
Chaoran Xiong, Fangyu Jiang, Kehui Ma +3
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. Howev…
cs.RO2025
THE-SEAN: A Heart Rate Variation-Inspired Temporally High-Order Event-Based Visual Odometry with Self-Supervised Spiking Event Accumulation Networks
Chaoran Xiong, Litao Wei, Kehui Ma +5
Event-based visual odometry has recently gained attention for its high accuracy and real-time performance in fast-motion systems. Unlike traditional synchronous estimators that rel…
cs.RO2024
IMOST: Incremental Memory Mechanism with Online Self-Supervision for Continual Traversability Learning
Kehui Ma, Zhen Sun, Chaoran Xiong +3
Traversability estimation is the foundation of path planning for a general navigation system. However, complex and dynamic environments pose challenges for the latest methods using…