4 papers · 1 filter
Cross-Spectral Stereo Inertial Odometry
Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3
Standard stereo VIO focuses exclusively on the benefit of metric scale via single-spectrum baselines, often overlooking the risks of spectral redundancy. This structural limitation…
Four Simple Proprioceptive Estimators for Legged Robots
Frank Dellaert, Chiyun Noh, Varun Agrawal +1
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be…
LAPS: Improving Incremental LiDAR Mapping using Active Pooling and Sampling for Neural Distance Fields
Dongjae Lee, Wooseong Yang, Yifu Tao +2
Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vul…
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Christina Kassab, Hyeonjae Gil, Matías Mattamala +2
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping metho…