11 accepted papers
To address the challenge of robust 6-DoF grasp prediction in cluttered, unstructured environments, this paper proposes a geometry-aware two-stage grasping framework. First, a plug-and-play Structural Edge-aware Keypoint Extractor is introduced to selectively retain salient edge geometry while mitiga
We present Ov3R, a novel framework for open-vocabulary semantic 3D reconstruction from RGB video streams, designed to advance Spatial AI. The system features two key components: CLIP3R, a CLIP-informed 3D reconstruction module that predicts dense point maps from overlapping clips alongside object-le
Segment Anything (SAM) has recently pushed the boundaries of segmentation by demonstrating remarkable zero-shot generalization and flexible prompting after training on over one billion masks. Despite this, its mask prediction accuracy often falls short of the precision required in real-world applica
This paper presents a novel collaborative online dense mapping system for multiple Unmanned Aerial Vehicles (UAVs). The system confers two primary benefits: it facilitates simultaneous UAVs co-localization and real-time dense map reconstruction, and it recovers the metric scale even in GNSS-denied c
Unmanned aerial vehicles (UAVs) equipped with LiDAR, camera, and Inertial Measurement Unit sensors are increasingly utilized for real-time dense reconstruction in large-scale rescue operations and environmental monitoring, among others. However, achieving algorithmic robustness remains challenging d
The emergence of the large language model (LLM) has shown its superiority in a wide range of disciplines, including language understanding and translation, relational logic reasoning, and even partial differential equations solving. The transformer is the pervasive backbone architecture for the foun…
The demand for 4D ( 3D+time ) SLAM system is increasingly urgent, especially for decision-making and scene understanding. However, most of the existing simultaneous localization and mapping ( SLAM ) systems primarily assume static environments. They fail to represent dynamic scenarios due to the cha…
Sea surface temperature (SST) plays an important role in our Earth’s atmosphere, wielding significant influence over both local and global climates and profoundly impacting ecosystems. However, this task presents unique challenges due to the inherent complexity and uncertainty within ocean systems.…
Accurate tracking control of agile quadrotors is challenging because of complicated aerodynamic effects. In this letter, we develop a tunable event-triggered learning-based control framework for quadrotors to achieve agile trajectory tracking in the presence of aerodynamic effects. A novel Gaussian
Common deep learning models for 3D real-time environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work PointNet has been widely applied as a local feature d…
This letter proposes a real-time optimal robust path following control scheme for planar snake robots without sideslip constraints using model predictive control (MPC). One of the features is that a linear double-integrator model rather than the complex dynamic model of snake robots is used for the