7 accepted papers
Real-world point clouds exhibit non-uniform density distributions, varying across distance and scale. Conventional upsampling methods typically treat points homogeneously, which over-smooths sparse regions while over-processing dense regions. We propose PURF, a density-aware point cloud upsampling f
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumption. To successfully bootstrap VIO algorithms, the initialization module is extremely important. Most initialization met
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable parameter may lead to unpredictable results. In the literature, extensive studies have been conducted on the extrinsic
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 that is able to significantly benefit from the online calibra…
This paper presents a novel Cable Climbing Robot CCRobot-III, which is the third version designed for bridge cable inspection tasks, aiming at surpassing previous versions in terms of climbing speed and payload capacity. Benefiting from Split-type Wire-driven design, CCRobot-III can climb along a 90…