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cs.RO2026
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…
cs.RO2025
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…
cs.RO2024
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…