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cs.RO2025
Learning Agile Tensile Perching for Aerial Robots from Demonstrations
Kangle Yuan, Atar Babgei, Luca Romanello +5
Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A…
cs.RO2025
ForestVO: Enhancing Visual Odometry in Forest Environments through ForestGlue
Thomas Pritchard, Saifullah Ijaz, Ronald Clark +1
Recent advancements in visual odometry systems have improved autonomous navigation; however, challenges persist in complex environments like forests, where dense foliage, variable…
cs.RO2025
XIRVIO: Critic-guided Iterative Refinement for Visual-Inertial Odometry with Explainable Adaptive Weighting
Chit Yuen Lam, Ronald Clark, Basaran Bahadir Kocer
We introduce XIRVIO, a transformer-based Generative Adversarial Network (GAN) framework for monocular visual inertial odometry (VIO). By taking sequences of images and 6-DoF inerti…