6 papers
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views
Junyi Ma, Wentao Bao, Jingyi Xu +5
Forecasting how human hands move in egocentric views is critical for applications like augmented reality and human-robot policy transfer. Recently, several hand trajectory predicti…
MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos
Junyi Ma, Xieyuanli Chen, Wentao Bao +2
Understanding human intentions and actions through egocentric videos is important on the path to embodied artificial intelligence. As a branch of egocentric vision techniques, hand…
TiCoSS: Tightening the Coupling between Semantic Segmentation and Stereo Matching within A Joint Learning Framework
Guanfeng Tang, Zhiyuan Wu, Jiahang Li +5
Semantic segmentation and stereo matching, respectively analogous to the ventral and dorsal streams in our human brain, are two key components of autonomous driving perception syst…
An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather
Xiongwei Zhao, Xieyuanli Chen, Xu Zhu +5
LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as ra…
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…