4 papers · 1 filter
GAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision
Zongwu Xie, Yonglong Zhang, Yifan Yang +2
Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion. This article presents GAP-GDRNet, a geometry-a…
Precision-Aware Illumination-Disentangled Vision Transformer for Spacecraft 6D Pose Estimation
Zongwu Xie, Yifan Yang, Yonglong Zhang +3
Vision sensors provide a lightweight solution for spacecraft proximity operations, but monocular spacecraft 6D pose estimation remains difficult under illumination variation, specu…
HTMNet: A Hybrid Network with Transformer-Mamba Bottleneck Multimodal Fusion for Transparent and Reflective Objects Depth Completion
Guanghu Xie, Yonglong Zhang, Zhiduo Jiang +4
Transparent and reflective objects pose significant challenges for depth sensors, resulting in incomplete depth information that adversely affects downstream robotic perception and…
NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting
Yiming Ji, Yang Liu, Guanghu Xie +2
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality renderin…