21 citations · 22 across the 12 of their papers we have counts for
8 papers · 1 filter
D-VPR: A Parameter-efficient Visual-foundation-model-based Visual Place Recognition Method via Knowledge Distillation and Deformable Aggregation
Zheyuan Zhang, Jiwei Zhang, Boyu Zhou +2
Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database.…
GUIDE: A Diffusion-Based Autonomous Robot Exploration Framework Using Global Graph Inference
Zijun Che, Yinghong Zhang, Shengyi Liang +3
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan…
DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects
Tingbang Liang, Yixin Zeng, Jiatong Xie +1
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicabl…
FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection
Yiming Luo, Yunfei Wang, Hongming Chen +6
Communication is fundamental for multi-robot collaboration, with accurate radio mapping playing a crucial role in predicting signal strength between robots. However, modeling radio…
ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion
Mingjie Zhang, Yuheng Du, Chengkai Wu +4
Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making m…
Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments
Chenxin Yu, Zihong Lu, Jie Mei +1
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing met…
AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter
Xupeng Xie, Ruoyu Geng, Jun Ma +1
Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious paramete…
Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
Chunxin Zheng, Yulin Li, Zhiyuan Song +4
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While…