9 papers
AE-UAV: An Air-to-Air Event-Based UAV Tracking Benchmark and a Real-Time Frequency-Domain Tracker
Zixin Jiang, Bing He, Chaoran Xiong +3
Air-to-air (A2A) unmanned aerial vehicle (UAV) tracking is fundamental to airborne remote sensing of low-altitude aerial targets. However, the deployment of continuous, real-time t…
Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN
Ziyi Xia, Chaoran Xiong, Litao Wei +2
Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically dri…
SFCo-Nav: Efficient Zero-Shot Visual Language Navigation via Collaboration of Slow LLM and Fast Attributed Graph Alignment
Chaoran Xiong, Litao Wei, Xinhao Hu +5
Recent advances in large vision-language models (VLMs) and large language models (LLMs) have enabled zero-shot approaches to visual language navigation (VLN), where an agent follow…
M-SEVIQ: A Multi-band Stereo Event Visual-Inertial Quadruped-based Dataset for Perception under Rapid Motion and Challenging Illumination
Jingcheng Cao, Chaoran Xiong, Jianmin Song +3
Agile locomotion in legged robots poses significant challenges for visual perception. Traditional frame-based cameras often fail in these scenarios for producing blurred images, pa…
Sensing, Social, and Motion Intelligence in Embodied Navigation: A Comprehensive Survey
Chaoran Xiong, Yulong Huang, Fangwen Yu +4
Embodied navigation (EN) advances traditional navigation by enabling robots to perform complex egocentric tasks through sensing, social, and motion intelligence. In contrast to cla…
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…
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…
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…
TON-VIO: Online Time Offset Modeling Networks for Robust Temporal Alignment in High Dynamic Motion VIO
Chaoran Xiong, Guoqing Liu, Qi Wu +6
Temporal misalignment (time offset) between sensors is common in low cost visual-inertial odometry (VIO) systems. Such temporal misalignment introduces inconsistent constraints for…