4 papers
Scale Anchoring via Implicit Semantics and Sequence-Consistent Loop Closure for VGGT-Based SLAM
Ziyi Jin, Kangjin Yu, Beichen Wang +3
Feed-forward geometric foundation models enable dense monocular reconstruction without requiring camera calibration, but independently reconstructed submaps can accumulate scale dr…
MonoEgo: Monocular Metric Egocentric Demonstration Capture with Passive Wrist Constellations and Sparse Workstation Anchors
Jie Xu, Kangjin Yu, Ziyi Jin +2
Image-aligned metric demonstrations often require dedicated tracking hardware and synchronization across devices. We present MonoEgo, a capture system that replaces active wrist in…
UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition
Jie Xu, Yongxin Yang, Ziyi Jin +4
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes betwee…
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…