Related papers: TON-VIO: Online Time Offset Modeling Networks for …
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
In many real-world settings--e.g., single-cell RNA sequencing, mobility sensing, and environmental monitoring--data are observed only as temporally aggregated snapshots collected over finite time windows, often with noisy or uncertain…
The R-Mode system, an advanced terrestrial integrated navigation system, is designed to address the vulnerabilities of global navigation satellite systems (GNSS) and explore the potential of a complementary navigation system. This study…
Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…
Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize…
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in the literature. This paper presents a novel GPS-VIO system…
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
Temporal coherence is a valuable source of information in the context of optical flow estimation. However, finding a suitable motion model to leverage this information is a non-trivial task. In this paper we propose an unsupervised online…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Recent text-to-video diffusion transformers generate visually compelling frames, yet still struggle with temporal coherence, often producing flickering, drifting, or unstable motion. We show that these failures leave a clear imprint inside…
In the transformative landscape of smart cities, the integration of the cutting-edge web technologies into time series forecasting presents a pivotal opportunity to enhance urban planning, sustainability, and economic growth. The…
Positioning is becoming a key component in many Internet of Things (IoT) applications. The main challenges and limitations are the narrow bandwidth, low power and low cost which reduces the accuracy of the time of arrival (TOA) estimation.…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
Vertical take-off and landing (VTOL) aircraft pose a challenge in generating reference commands during transition flight. While sparsity between hover and cruise flight modes can be promoted for effective transitions by formulating…
We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…