23 citations · 26 across the 6 of their papers we have counts for
7 papers · 1 filter
Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry
Jie Xu, Ziyi Jin, Kangjin Yu +5
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO…
A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration
Kuan Xu, Ruimeng Liu, Yizhuo Yang +5
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operat…
Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation
Muqing Cao, Xinhang Xu, Yizhuo Yang +6
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a d…
Robust Loop Closure by Textual Cues in Challenging Environments
Tongxing Jin, Thien-Minh Nguyen, Xinhang Xu +4
Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work…
A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation
Thien-Minh Nguyen, Ziyu Cao, Kailai Li +5
In this paper, we propose a third-order, i.e., white-noise-on-jerk, Gaussian Process (GP) Trajectory Representation (TR) framework for continuous-time (CT) motion estimation (ME) t…
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions
Jianping Li, Qiutong Leng, Jinxing Liu +7
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These sys…
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association
Thien-Minh Nguyen, Xinhang Xu, Tongxing Jin +4
In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO alg…