4 papers
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
Jianhao Jiao, Jinhao He, Changkun Liu +4
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequen…
EgoHDM: An Online Egocentric-Inertial Human Motion Capture, Localization, and Dense Mapping System
Bonan Liu, Handi Yin, Manuel Kaufmann +4
We present EgoHDM, an online egocentric-inertial human motion capture (mocap), localization, and dense mapping system. Our system uses 6 inertial measurement units (IMUs) and a com…
Efficient Camera Exposure Control for Visual Odometry via Deep Reinforcement Learning
Shuyang Zhang, Jinhao He, Yilong Zhu +2
The stability of visual odometry (VO) systems is undermined by degraded image quality, especially in environments with significant illumination changes. This study employs a deep r…
Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion
Jinhao He, Huaiyang Huang, Shuyang Zhang +3
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purp…