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cs.RO2025
PCR-ORB: Enhanced ORB-SLAM3 with Point Cloud Refinement Using Deep Learning-Based Dynamic Object Filtering
Sheng-Kai Chen, Jie-Yu Chao, Jr-Yu Chang +2
Visual Simultaneous Localization and Mapping (vSLAM) systems encounter substantial challenges in dynamic environments where moving objects compromise tracking accuracy and map cons…
cs.RO2025
Explainable Neural Inverse Kinematics for Obstacle-Aware Robotic Manipulation: A Comparative Analysis of IKNet Variants
Sheng-Kai Chen, Yi-Ling Tsai, Chun-Chih Chang +2
Deep neural networks have accelerated inverse-kinematics (IK) inference to the point where low cost manipulators can execute complex trajectories in real time, yet the opaque natur…