6 papers
G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
Yufei Wei, Shuhao Ye, Chenxiao Hu +5
Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization and multi-camera rig odometry. Each group carries known intra-group geometry fro…
BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots
Yufei Wei, Chenxiao Hu, Wangtao Lu +5
Scale-consistent ego-motion estimation is fundamental for autonomous ground robots. Bird's-Eye-View (BEV) representation naturally addresses the scale drift problem of monocular vi…
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
Reinforcement Learning for Adaptive Planner Parameter Tuning: A Perspective on Hierarchical Architecture
Lu Wangtao, Wei Yufei, Xu Jiadong +4
Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and…
BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground
Yufei Wei, Sha Lu, Wangtao Lu +2
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent sc…
BEV-ODOM: Reducing Scale Drift in Monocular Visual Odometry with BEV Representation
Yufei Wei, Sha Lu, Fuzhang Han +2
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity i…