7 accepted papers
In this paper, we present a hierarchical simultaneous localization and mapping (SLAM) system that leverages point-level features, mid-level geometric organized edge representations, and high-level object semantics within a unified framework. While object-level SLAM provides semantic information and …
High-quality 3D reconstruction of unknown small objects with complex surface details is important in applications such as digital preservation and cultural heritage archiving. In practice, such scanning procedures rely heavily on skilled human experts, but the high cost of expert training and the la…
Quadrotor endurance is ultimately limited by battery behavior, yet most energy-aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation. This work presents an end-to-end framework for motion-aware…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms alone. Drawing inspiration from the winged flying squirrel, this
Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies depending on the environment and deteriorates in degenerative
Typical drones with multi rotors are generally less maneuverable due to unidirectional thrust, which may be unfavorable to agile flight in very narrow and confined spaces. This paper suggests a new bio-inspired drone that is empowered with high maneuverability in a lightweight and easy-to-carry way.…
We present a novel actor-critic algorithm for an environment with delayed feedback, which addresses the state-space explosion problem of conventional approaches. Conventional approaches use an augmented state constructed from the last observed state and actions executed since visiting the last obser…