2 papers
cs.RO2026
PathLift: Depth-Conditioned Metric Lifting for Visual-Navigation Priors
Gwanjun Shin, Hyeongseok Suh, Hongmo Jung +1
Generalist visual-navigation policies tell a robot which direction to go but not how far. A separate lifting step is needed at deployment to convert their unitless trajectory into…
cs.RO2025
SMF-VO: Direct Ego-Motion Estimation via Sparse Motion Fields
Sangheon Yang, Yeongin Yoon, Hong Mo Jung +1
Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradigm, which computes absolute camera poses from the local map thus requires…