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cs.RO2026
Smart Fusion for Adaptive Visual-IMU Weighting in cuVSLAM Sparse Bundle Adjustment
Wonju Lee, Dara Molloy, Abhilash Nand Kumar +5
In cuVSLAM, visual and inertial measurement unit (IMU) residuals are fused in sparse bundle adjustment (SBA) with a weighting fixed by pre-calibrated noise covariances, leaving no…
cs.RO2026
Symmetry-Aware Fusion of Vision and Tactile Sensing via Bilateral Force Priors for Robotic Manipulation
Wonju Lee, Matteo Grimaldi, Tao Yu
Insertion tasks in robotic manipulation demand precise, contact-rich interactions that vision alone cannot resolve. While tactile feedback is intuitively valuable, existing studies…