10 accepted papers
3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization against the splat map, making them sensitive to initialization …
Current methods in medical image semantic segmentation often rely on simple skip connections within U-shaped network structures. These approaches fail to bridge the semantic gap between the encoder and decoder module and do not fully exploit the rich contextual information among. The unused informat…
Accurate LiDAR-Camera (LC) calibration is challenging but crucial for autonomous systems and robotics. In this paper, we propose two single-shot and target-less algorithms to estimate the calibration parameters between LiDAR and camera using line features. The first algorithm constructs line-to-line
Due to the complex geometric features of facial expressions, achieving realistic facial expression transfer is a challenging task. This paper proposes a two-stage facial expression transfer method based on 3D Morphable Model (3DMM) and diffusion models. In the first stage, 3DMM-based DECA model is e…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and the effects of the collisions on the mobile robots are analy
Recent works on learning-based frameworks for Lagrangian (i.e., particle-based) fluid simulation, though bypassing iterative pressure projection via efficient convolution operators, are still time-consuming due to excessive amount of particles. To address this challenge, we propose a dynamic multi-s…
One controller cannot work on multiple and unknown terrains in the velocity control of the spherical robot, because the dynamic models of the robot vary on different terrains, and unmodeled dynamics and uncertainties exist in estimated dynamic models. Based on the above problem, a new velocity contr
This paper studies the problem of multi-robot cooperative visual-inertial localization where each robot is equipped with only a single camera and IMU. We develop two cooperative visual-inertial odometry (C-VIO) algorithms within the multi-state constraint Kalman filter (MSCKF) framework, in which ea…
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we leverage covariance intersection (CI) to allow each robot to only…
In this paper, we present a novel distributed algorithm to track a moving object's state by utilizing a heterogenous mobile robot network in a three-dimensional (3-D) environment, wherein the robots' poses (positions and orientations) are unknown. Each robot is equipped with a monocular camera and a…