相关论文: SchurVINS: Schur Complement-Based Lightweight Visu…

Inspired by recent findings on the fractal geometry of language, we introduce Recursive INference Scaling (RINS) as a complementary, plug-in recipe for scaling inference time in language and multimodal systems. RINS is a particular form of…

The Value Iteration Network (VIN) is an end-to-end differentiable neural network architecture for planning. It exhibits strong generalization to unseen domains by incorporating a differentiable planning module that operates on a latent…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

Matching-based methods, especially those based on space-time memory, are significantly ahead of other solutions in semi-supervised video object segmentation (VOS). However, continuously growing and redundant template features lead to an…

Vision Transformers (ViTs) excel in semantic segmentation but demand significant computation, posing challenges for deployment on resource-constrained devices. Existing token pruning methods often overlook fundamental visual data…

In complex engineering systems such as electro-thermal-fluid coupling, rapid and accurate prediction of multi-physics fields is essential for advanced applications like digital twins and real-time condition monitoring. Traditional numerical…

This paper addresses the challenge of transient stability in power systems with missing parameters and uncertainty propagation in swing equations. We introduce a novel application of Physics-Informed Neural Networks (PINNs), specifically an…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

The identification of material parameters occurring in constitutive models has a wide range of applications in practice. One of these applications is the monitoring and assessment of the actual condition of infrastructure buildings, as the…

Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…

Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…

Plant phenology-the study of recurrent life cycle events-is essential for understanding ecosystem dynamics and their responses to climate change impacts. While Unmanned Aerial Vehicles (UAVs) and near-surface cameras enable high-resolution…

Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…

LiDAR depth maps provide environmental guidance in a variety of applications. However, such depth maps are typically sparse and insufficient for complex tasks such as autonomous navigation. State of the art methods use image guided neural…

Respecting the geometry of the underlying system and exploiting its symmetry have been driving concepts in deriving modern geometric filters for inertial navigation systems (INSs). Despite their success, the explicit treatment of inertial…

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…

Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…