8 accepted papers
Contrastive learning (CL) has become a powerful approach for learning representations from unlabeled images. However, existing CL methods focus predominantly on visual appearance features while neglecting topological characteristics (e.g., connectivity patterns, boundary configurations, cavity forma
Image-goal navigation is a critical task in autonomous visual navigation, requiring the robot to navigate to a target localization specified by an image. Previous works using data-driven methods achieve great success while they mostly leverage simple network architecture and train it from scratch, w
Seeking for generalizable graph representations becomes hot spot in the area of graph learning. Recently, causality theory has been applied for extracting the causal relations between graph data and labels, which are generalizable under distribution shift and result in better OOD generalization. In…
Visual inertial odometry (VIO) is a popular solution for localization in the GPS-denied environment. However, current VIO algorithms' performance degrades in the visual degraded environment due to limited visual features. This paper presents a robust VIO algorithm with learned velocity constraints.
Vision-based localization is an essential problem for autonomous systems while the performance of vision-based odometry degrades in the challenging scenario. This letter presents S-VIO, an RGB-D visual inertial odometry (VIO) which fully uses multi-sensor measurements (i.e. depth, RGB and IMU), hete
Graph Neural Networks (GNNs) have shown great promise in various graph learning tasks. However, the computational overheads of fitting GNNs to large-scale graphs grow rapidly, posing obstacles to GNNs from scaling up to real-world applications. To tackle this issue, Graph Lottery Ticket (GLT) hypoth…
Visual Inertial Odometry (VIO) is a widely studied localization technique in robotics. State-of-the-art VIO algorithms are composed of two parts: a frontend which performs visual perception and inertial measurement pre-processing, and a backend which fuses vision and inertial measurements to estimat…
In order to improve the accuracy of simultaneous localization and mapping problem, plane motion assumption is often used for advanced ground vehicle SLAM system. However, such an assumption is not always suitable to complex and changeable road scenes. In this letter, we propose a stereo-vision based