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cs.RO2026
GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry
Chankyo Kim, Minghan Zhu, Tzu-Yuan Lin +2
Neural inertial odometry increasingly uses networks as learned measurements inside filtering pipelines. Such measurements should transform consistently under arbitrary IMU mounting…
cs.RO2025
Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks
Zeyu Han, Shuocheng Yang, Minghan Zhu +4
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as…
cs.RO2024
SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration
Chien Erh Lin, Minghan Zhu, Maani Ghaffari
Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a lo…