7 accepted papers
The increasing reliance on multi-sensor systems to enhance the robustness and accuracy of robotic systems introduces new challenges, particularly in calibrating multiple sensors. Traditional offline calibration techniques, which use targets like checkerboards, assume that extrinsic parameters betwee…
Existing planners commonly rely on cell-based environment representation approaches, which oversimplify the geometry and face the challenges of low spatial resolution and high maintenance costs. Inspired by cloth simulation techniques, we propose a novel environment representation method called Clot
Visual Place Recognition (VPR) is crucial for various computer vision and robotics applications. Traditional VPR techniques relying on handcrafted features, have been enhanced by using Convolutional Neural Networks (CNNs). Recently, MixVPR has set new benchmarks in VPR by using advanced feature aggr
To position agents equipped with ultrawideband (UWB) devices without requiring continuous clock synchronization, the primary measurement currently used is the time of flight between agents, estimated through active two-way ranging (TWR). However, the cumbersome signal exchange mechanism in active TW…
Given the fact that visual-inertial odometry (VIO) is faced with the challenges of localization drift in the long run, we utilize drift-free Ultra-Wideband (UWB) measurements to eliminate accumulated errors in VIO. Existing UWB-VIO fusion methods are mostly constrained by the accuracy of prior UWB a
The paper introduces a novel Visual Place Recognition (VPR) method called Lightweight Pooling-centric Saliency-aware VPR (LPS-VPR), a high-performance VPR method capable of exploiting saliency information without computational burden. The key contribution of the method is a pooling-based saliency en
It is imperative to accelerate the training of neural network force field such as Deep Potential, which usually requires thousands of images based on first-principles calculation and a couple of days to generate an accurate potential energy surface. To this end, we propose a novel optimizer named re…