3 papers
cs.RO2026
Fiducial Exoskeletons: Image-Centric Robot State Estimation
Cameron Smith, Basile Van Hoorick, Vitor Guizilini +1
We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image infe…
cs.CV2025
Discriminately Treating Motion Components Evolves Joint Depth and Ego-Motion Learning
Mengtan Zhang, Zizhan Guo, Hongbo Zhao +6
Unsupervised learning of depth and ego-motion, two fundamental 3D perception tasks, has made significant strides in recent years. However, most methods treat ego-motion as an auxil…
cs.CV2025
SIRE: SE(3) Intrinsic Rigidity Embeddings
Cameron Smith, Basile Van Hoorick, Vitor Guizilini +1
Motion serves as a powerful cue for scene perception and understanding by separating independently moving surfaces and organizing the physical world into distinct entities. We intr…