41 citations · 41 across the 8 of their papers we have counts for
8 papers
H-OmniStereo: Zero-Shot Omnidirectional Stereo Matching with Heading-Aligned Normal Priors
Chenxing Jiang, Zhe Tong, Pusen Gao +5
Stereo matching on top-bottom equirectangular images provides an effective framework for full-surround perception, as vertically aligned epipolar lines enable the use of advanced p…
WaterSplat-SLAM: Photorealistic Monocular SLAM in Underwater Environment
Kangxu Wang, Shaofeng Zou, Chenxing Jiang +4
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle t…
MG-Grasp: Metric-Scale Geometric 6-DoF Grasping Framework with Sparse RGB Observations
Kangxu Wang, Siang Chen, Chenxing Jiang +3
Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been st…
Geometry-Grounded Gaussian Splatting
Baowen Zhang, Chenxing Jiang, Heng Li +2
Gaussian Splatting (GS) has demonstrated impressive quality and efficiency in novel view synthesis. However, shape extraction from Gaussian primitives remains an open problem. Due…
WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
Chenxing Jiang, Kunyi Zhang, Sheng Yang +3
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuo…
H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Yiming Luo, Boyu Zhou +1
In recent years, implicit online dense mapping methods have achieved high-quality reconstruction results, showcasing great potential in robotics, AR/VR, and digital twins applicati…
H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Hanwen Zhang, Peize Liu +4
Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping pe…
DIDO: Deep Inertial Quadrotor Dynamical Odometry
Kunyi Zhang, Chenxing Jiang, Jinghang Li +4
In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the quadrotor dynamics is considered as a percepti…