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cs.RO2025
VGC-RIO: A Tightly Integrated Radar-Inertial Odometry with Spatial Weighted Doppler Velocity and Local Geometric Constrained RCS Histograms
Jianguang Xiang, Xiaofeng He, Zizhuo Chen +3
Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and no…
cs.RO2025
SLAM in the Dark: Self-Supervised Learning of Pose, Depth and Loop-Closure from Thermal Images
Yangfan Xu, Qu Hao, Lilian Zhang +4
Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, whic…
cs.RO2024
DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closing
Hao Qu, Lilian Zhang, Jun Mao +5
The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep le…