4 accepted papers
Visuotactile sensors can provide rich contact information for robots. However, how to build a high-fidelity visuotactile simulator that supports multi-mode tactile imprints and various sensor configurations remains a challenging problem. In this paper, we present TacFlex, a flexible simulator for vi…
Visuotactile sensors have recently attracted much attention in robot communities due to the benefit of high spatial resolution sensing. However, force/torque estimation by visuotactile sensors remains a challenging problem. In this paper, we propose a learning-based six-axis force/torque estimation…
Weak texture and motion blur are always challenging problems for visual-inertial odometry (VIO) systems. To improve accuracy of VIO systems in the challenging scenes, we propose a point-line-based VIO system with novel feature hybrids and with novel predicting-matching for long line track. Point-lin
Line segment features become popular in SLAM community. Usually, line-based SLAM systems utilize local appearance descriptors for line segment tracking. However, traditional descriptor-based line segment tracking algorithms suffer from the problem that accuracy and speed cannot be possessed simultan…