7 papers
AC-LIO: Towards Asymptotic Compensation for Distortion in LiDAR-Inertial Odometry via Selective Intra-Frame Smoothing
Tianxiang Zhang, Xuanxuan Zhang, Wenlei Fan +4
Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames.…
Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration
Jian Liu, Wei Sun, Kai Zeng +5
Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a f…
Seeing Through Reflections: Advancing 3D Scene Reconstruction in Mirror-Containing Environments with Gaussian Splatting
Zijing Guo, Yunyang Zhao, Lin Wang
Mirror-containing environments pose unique challenges for 3D reconstruction and novel view synthesis (NVS), as reflective surfaces introduce view-dependent distortions and inconsis…
TimeTracker: Event-based Continuous Point Tracking for Video Frame Interpolation with Non-linear Motion
Haoyue Liu, Jinghan Xu, Yi Chang +4
Video frame interpolation (VFI) that leverages the bio-inspired event cameras as guidance has recently shown better performance and memory efficiency than the frame-based methods,…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
Ev-Layout: A Large-scale Event-based Multi-modal Dataset for Indoor Layout Estimation and Tracking
Xucheng Guo, Yiran Shen, Xiaofang Xiao +2
This paper presents Ev-Layout, a novel large-scale event-based multi-modal dataset designed for indoor layout estimation and tracking. Ev-Layout makes key contributions to the comm…