3 citations · 3 across the 5 of their papers we have counts for
13 papers
Offline Vision-Language Navigation with Geometric Goal Localization for Outdoor Environments
Ali Salmasi, Xianjia Yu, Tomi Westerlund
Foundation-model-based vision-language navigation (VLN) has advanced autonomous robot navigation by enabling robots to interpret natural-language instructions, identify semantic go…
SAFEVPR: Patch-Based Conformal Verification for Safe Cross-Condition Sequence Visual Place Recognition
Ha Sier, Jiaqiang Zhang, Zhuo Zou +2
Sequence-based visual place recognition (VPR) for SLAM and robot relocalization must decide whether the retrieved top-1 candidate is safe to accept. Conformal prediction is a natur…
Degradation-Aware Cooperative Multi-Modal GNSS-Denied Localization Leveraging LiDAR-Based Robot Detections
Václav Pritzl, Xianjia Yu, Tomi Westerlund +2
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors…
Blockchain-Enabled Privacy-Preserving Second-Order Federated Edge Learning in Personalized Healthcare
Anum Nawaz, Muhammad Irfan, Xianjia Yu +4
Federated learning (FL) is increasingly recognised for addressing security and privacy concerns in traditional cloud-centric machine learning (ML), particularly within personalised…
Seamless Outdoor-Indoor Pedestrian Positioning System with GNSS/UWB/IMU Fusion: A Comparison of EKF, FGO, and PF
Jiaqiang Zhang, Xianjia Yu, Sier Ha +5
Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile…
A Sensor-Aware Phenomenological Framework for Lidar Degradation Simulation and SLAM Robustness Evaluation
Doumegna Mawuto Koudjo Felix, Xianjia Yu, Zhuo Zou +1
Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either…