5 papers
TacSpin: Tactile Tracking of In-Gripper Object Rotation on SO(3) via Axis-Magnitude Estimation
Yuhao Wu, Linhao Song, Huan Yin
Tracking object motion within a gripper provides essential feedback for robotic manipulation. However, limited contact coverage and uneven deformation make tactile estimation chall…
TacLoc: Global Tactile Localization on Objects from a Registration Perspective
Zirui Zhang, Boyang Zhang, Fumin Zhang +1
Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally…
VIMS: A Visual-Inertial-Magnetic-Sonar SLAM System in Underwater Environments
Bingbing Zhang, Huan Yin, Shuo Liu +2
In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encou…
BEINGS: Bayesian Embodied Image-goal Navigation with Gaussian Splatting
Wugang Meng, Tianfu Wu, Huan Yin +1
Image-goal navigation enables a robot to reach the location where a target image was captured, using visual cues for guidance. However, current methods either rely heavily on data…
NuRF: Nudging the Particle Filter in Radiance Fields for Robot Visual Localization
Wugang Meng, Tianfu Wu, Huan Yin +1
Can we localize a robot on a map only using monocular vision? This study presents NuRF, an adaptive and nudged particle filter framework in radiance fields for 6-DoF robot visual l…