3 papers
cs.RO2026
DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation
Ziyu Wan, Lin Zhao
Visual inertial odometry (VIO) is essential for accurate 6-DoF motion estimation in mobile robotic systems. Recent learning-based VIO methods have shown promising progress, but the…
cs.RO2026
DiffPF: Differentiable Particle Filtering with Generative Sampling via Conditional Diffusion Models
Ziyu Wan, Lin Zhao
This paper proposes DiffPF, a differentiable particle filter that leverages diffusion models for state estimation in dynamic systems. Unlike conventional differentiable particle fi…
cs.RO2025
DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models
Ziyu Wan, Lin Zhao
This paper proposes the DnD Filter, a differentiable filter that utilizes diffusion models for state estimation of dynamic systems. Unlike conventional differentiable filters, whic…