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RbFT-Net: Rectify-Before-Fuse Temporal Radar Anchors for 4D Radar-Camera Depth Completion
Wentao Zhao, Shouxuan Wu, Yongtao Cen +3
Dense metric depth prediction from cameras and millimeter-wave radar offers a cost-effective sensing solution for autonomous systems. However, radar measurements are inherently spa…
ViT-Up: Faithful Feature Upsampling for Vision Transformers
Krispin Wandel, Jingchuan Wang, Hesheng Wang
Vision Transformers (ViTs) have become a dominant architecture for visual representation learning, providing exceptionally strong and broadly reusable backbone features. However, V…
OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty
Zikun Chen, Wentao Zhao, Yihe Niu +2
Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leadi…
Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion
Wentao Zhao, Yihe Niu, Zikun Chen +4
Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observ…
What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models
Tianchen Deng, Yue Pan, Shenghai Yuan +10
In this paper, we provide a comprehensive overview of existing scene representation methods for robotics, covering traditional representations such as point clouds, voxels, signed…