6 papers
Sky2Ground: A Benchmark for Site Modeling under Varying Altitude
Zengyan Wang, Sirshapan Mitra, Rajat Modi +2
We introduce Sky2Ground, a three-view dataset designed for varying altitude camera localization, correspondence learning, and reconstruction. The dataset combines structured synthe…
OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera
Hao Shi, Ze Wang, Shangwei Guo +6
Robust 3D semantic occupancy is crucial for legged/humanoid robots, yet most semantic scene completion (SSC) systems target wheeled platforms with forward-facing sensors. We presen…
P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty
Yufan Zhang, Kailun Yang, Ze Wang +1
This paper presents P2U-SLAM, a visual Simultaneous Localization And Mapping (SLAM) system with a wide Field of View (FoV) camera, which utilizes pose uncertainty and point uncerta…
SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement
Ze Wang, Yang Li, Long Xu +7
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrai…
Benchmarking the Robustness of Optical Flow Estimation to Corruptions
Zhonghua Yi, Hao Shi, Qi Jiang +5
Optical flow estimation is extensively used in autonomous driving and video editing. While existing models demonstrate state-of-the-art performance across various benchmarks, the r…
EI-Nexus: Towards Unmediated and Flexible Inter-Modality Local Feature Extraction and Matching for Event-Image Data
Zhonghua Yi, Hao Shi, Qi Jiang +5
Event cameras, with high temporal resolution and high dynamic range, have limited research on the inter-modality local feature extraction and matching of event-image data. We propo…