18 papers
IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusion
Lizhou Lin, Songpengcheng Xia, Zengyuan Lai +3
Capturing full-body human motion with object interactions is crucial for AR/VR and robotics applications, yet it remains challenging for conventional vision-based methods due to oc…
G2IA: Geometry-Guided Instance-Aware Retrieval and Refinement for Cross-Modal Place Recognition
Xianyun Jiao, Jingyi Xu, Zhongmiao Yan +2
Cross-modal place recognition (CMPR) enables camera-only robots to localize against pre-built LiDAR maps in autonomous navigation scenarios. This image-to-point-cloud setting is ch…
VGGT-MPR: VGGT-Enhanced Multimodal Place Recognition in Autonomous Driving Environments
Jingyi Xu, Zhangshuo Qi, Zhongmiao Yan +5
In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal p…
360-GeoGS: Geometrically Consistent Feed-Forward 3D Gaussian Splatting Reconstruction for 360 Images
Jiaqi Yao, Zhongmiao Yan, Jingyi Xu +3
3D scene reconstruction is fundamental for spatial intelligence applications such as AR, robotics, and digital twins. Traditional multi-view stereo struggles with sparse viewpoints…
XGrid-Mapping: Explicit Implicit Hybrid Grid Submaps for Efficient Incremental Neural LiDAR Mapping
Zeqing Song, Zhongmiao Yan, Junyuan Deng +5
Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential…
RadarLLM: Empowering Large Language Models to Understand Human Motion from Millimeter-Wave Point Cloud Sequence
Zengyuan Lai, Jiarui Yang, Songpengcheng Xia +6
Millimeter-wave radar offers a privacy-preserving and environment-robust alternative to vision-based sensing, enabling human motion analysis in challenging conditions such as low l…
Suite-IN++: A FlexiWear BodyNet Integrating Global and Local Motion Features from Apple Suite for Robust Inertial Navigation
Lan Sun, Songpengcheng Xia, Jiarui Yang +1
The proliferation of wearable technology has established multi-device ecosystems comprising smartphones, smartwatches, and headphones as critical enablers for ubiquitous pedestrian…
mmDEAR: mmWave Point Cloud Density Enhancement for Accurate Human Body Reconstruction
Jiarui Yang, Songpengcheng Xia, Zengyuan Lai +4
Millimeter-wave (mmWave) radar offers robust sensing capabilities in diverse environments, making it a highly promising solution for human body reconstruction due to its privacy-fr…
EnvPoser: Environment-aware Realistic Human Motion Estimation from Sparse Observations with Uncertainty Modeling
Songpengcheng Xia, Yu Zhang, Zhuo Su +7
Estimating full-body motion using the tracking signals of head and hands from VR devices holds great potential for various applications. However, the sparsity and unique distributi…
360Recon: An Accurate Reconstruction Method Based on Depth Fusion from 360 Images
Zhongmiao Yan, Qi Wu, Songpengcheng Xia +4
360-degree images offer a significantly wider field of view compared to traditional pinhole cameras, enabling sparse sampling and dense 3D reconstruction in low-texture environment…
Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting
Jingyi Xu, Xieyuanli Chen, Junyi Ma +4
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which…
Suite-IN: Aggregating Motion Features from Apple Suite for Robust Inertial Navigation
Lan Sun, Songpengcheng Xia, Junyuan Deng +4
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestri…
SMART: Scene-motion-aware human action recognition framework for mental disorder group
Zengyuan Lai, Jiarui Yang, Songpengcheng Xia +4
Patients with mental disorders often exhibit risky abnormal actions, such as climbing walls or hitting windows, necessitating intelligent video behavior monitoring for smart health…
Learning-based Traversability Costmap for Autonomous Off-road Navigation
Qiumin Zhu, Zhen Sun, Songpengcheng Xia +5
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and…
Thermal-NeRF: Neural Radiance Fields from an Infrared Camera
Tianxiang Ye, Qi Wu, Junyuan Deng +6
In recent years, Neural Radiance Fields (NeRFs) have demonstrated significant potential in encoding highly-detailed 3D geometry and environmental appearance, positioning themselves…
Explicit Interaction for Fusion-Based Place Recognition
Jingyi Xu, Junyi Ma, Qi Wu +4
Fusion-based place recognition is an emerging technique jointly utilizing multi-modal perception data, to recognize previously visited places in GPS-denied scenarios for robots and…
MMBaT: A Multi-task Framework for mmWave-based Human Body Reconstruction and Translation Prediction
Jiarui Yang, Songpengcheng Xia, Yifan Song +2
Human body reconstruction with Millimeter Wave (mmWave) radar point clouds has gained significant interest due to its ability to work in adverse environments and its capacity to mi…
Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensors
Yu Zhang, Songpengcheng Xia, Lei Chu +3
This paper introduces a novel human pose estimation approach using sparse inertial sensors, addressing the shortcomings of previous methods reliant on synthetic data. It leverages…