3 papers
cs.RO2025
FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry with Sensor Calibration
Hao Wei, Peiji Wang, Qianhao Wang +3
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions,…
cs.RO2025
LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping
Lijie Wang, Lianjie Guo, Ziyi Xu +3
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial vis…
cs.CV2025
FastViDAR: Real-Time Omnidirectional Depth Estimation via Alternative Hierarchical Attention
Hangtian Zhao, Xiang Chen, Yizhe Li +3
In this paper we propose FastViDAR, a novel framework that takes four fisheye camera inputs and produces a full depth map along with per-camera depth, fusion depth, and…