5 papers
Feature-free regression kriging
Peng Luo, Yilong Wu, Yongze Song
Spatial interpolation is a crucial task in geography. As perhaps the most widely used interpolation methods, geostatistical models -- such as Ordinary Kriging (OK) -- assume spatia…
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
Yifan Duan, Heng Li, Yilong Wu +5
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However,…
MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
Yilong Wu, Yifan Duan, Yuxi Chen +5
Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose…
OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving
Yedong Shen, Xinran Zhang, Yifan Duan +5
Accurate and realistic 3D scene reconstruction enables the lifelike creation of autonomous driving simulation environments. With advancements in 3D Gaussian Splatting (3DGS), previ…
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
Yifan Duan, Xinran Zhang, Guoliang You +8
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the…