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cs.CV2025
UniDrive: Towards Universal Driving Perception Across Camera Configurations
Ye Li, Wenzhao Zheng, Xiaonan Huang +1
Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images…
cs.CV2025
Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video
Xiaohao Xu, Tianyi Zhang, Shibo Zhao +8
We aim to redefine robust ego-motion estimation and photorealistic 3D reconstruction by addressing a critical limitation: the reliance on noise-free data in existing models. While…
cs.CV2024
From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking
Xiaohao Xu, Tianyi Zhang, Sibo Wang +6
Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to…