5 papers
DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments
Ming Liao, Chao Ye, Jianing Fei +1
In indoor environments, object positions frequently change due to human activities or embodied-agent interactions, causing previously constructed scene graphs to become inconsisten…
Shallow Deep Learning Can Still Excel in Fine-Grained Few-Shot Learning
Chaofei Qi, Chao Ye, Zhitai Liu +2
Deep learning has witnessed the extensive utilization across a wide spectrum of domains, including fine-grained few-shot learning (FGFSL) which heavily depends on deep backbones. N…
DQO-MAP: Dual Quadrics Multi-Object mapping with Gaussian Splatting
Haoyuan Li, Ziqin Ye, Yue Hao +2
Accurate object perception is essential for robotic applications such as object navigation. In this paper, we propose DQO-MAP, a novel object-SLAM system that seamlessly integrates…
MLINE-VINS: Robust Monocular Visual-Inertial SLAM With Flow Manhattan and Line Features
Chao Ye, Haoyuan Li, Weiyang Lin +1
In this paper we introduce MLINE-VINS, a novel monocular visual-inertial odometry (VIO) system that leverages line features and Manhattan Word assumption. Specifically, for line ma…
Depth-PC: A Visual Servo Framework Integrated with Cross-Modality Fusion for Sim2Real Transfer
Haoyu Zhang, Yang Liu, Yimu Jiang +2
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional method…