5 papers
ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration
Liyan Chen, Hairong Yin, Huangying Zhan +3
As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings. Moreover, robots often operate in unfamiliar env…
U-ARM : Ultra low-cost general teleoperation interface for robot manipulation
Yanwen Zou, Zhaoye Zhou, Chenyang Shi +4
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system suppor…
EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events
Siyu Chen, Shenghai Yuan, Thien-Minh Nguyen +4
Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle…
Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues
Hanfang Liang, Shenghai Yuan, Fen Liu +5
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult t…
A Label-Free and Non-Monotonic Metric for Evaluating Denoising in Event Cameras
Chenyang Shi, Shasha Guo, Boyi Wei +4
Event cameras are renowned for their high efficiency due to outputting a sparse, asynchronous stream of events. However, they are plagued by noisy events, especially in low light c…