4 papers
Reinforcement Learning for Adaptive Planner Parameter Tuning: A Perspective on Hierarchical Architecture
Lu Wangtao, Wei Yufei, Xu Jiadong +4
Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and…
BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground
Yufei Wei, Sha Lu, Wangtao Lu +2
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent sc…
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
BEV-ODOM: Reducing Scale Drift in Monocular Visual Odometry with BEV Representation
Yufei Wei, Sha Lu, Fuzhang Han +2
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity i…