相关论文: ViIK: Flow-based Vision Inverse Kinematics Solver …
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…
The Inverse Kinematics (IK) problem is to nd robot control parameters to bring it into the desired position under the kinematics and collision constraints. We present a global solution to the optimal IK problem for a general serial 7DOF…
In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…
Video compression aims to reconstruct seamless frames by encoding the motion and residual information from existing frames. Previous neural video compression methods necessitate distinct codecs for three types of frames (I-frame, P-frame…
In this paper, we present novel identification strategies to develop a unified framework for vortex-induced vibration (VIV) prediction based on the general semi-empirical wake oscillator. Greybox nonlinear system identification method…
We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…
We present a unifying framework to solve several computer vision problems with event cameras: motion, depth and optical flow estimation. The main idea of our framework is to find the point trajectories on the image plane that are best…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a…
We consider a stochastic Inverse Variational Inequality (IVI) problem defined by a continuous and co-coercive map over a closed and convex set. Motivated by the absence of performance guarantees for stochastic IVI, we present a…
In this paper, we present a high-performing solution to the UAVM 2025 Challenge, which focuses on matching narrow FOV street-level images to corresponding satellite imagery using the University-1652 dataset. As panoramic Cross-View…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Static and moving objects often occur in real-life videos. Most video object segmentation methods only focus on extracting and exploiting motion cues to perceive moving objects. Once faced with the frames of static objects, the moving…
Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO algorithms are still widely demanded for their efficient…