no code implementations • 9 Apr 2024 • Tianchen Deng, Nailin Wang, Chongdi Wang, Shenghai Yuan, Jingchuan Wang, Danwei Wang, Weidong Chen
For pose estimation, a feature-metric bundle adjustment (FBA) method is designed for accurate and robust camera tracking in large-scale scenes.
1 code implementation • 29 Mar 2024 • Tianchen Deng, Yanbo Wang, Hongle Xie, Hesheng Wang, Jingchuan Wang, Danwei Wang, Weidong Chen
Second, the occupancy scene representation is replaced with Signed Distance Field (SDF) hierarchical scene representation for high-quality reconstruction and view synthesis.
no code implementations • 17 Mar 2024 • Tianchen Deng, Yaohui Chen, Leyan Zhang, Jianfei Yang, Shenghai Yuan, Danwei Wang, Weidong Chen
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes.
1 code implementation • 9 Jan 2024 • Jingtao Sun, Yaonan Wang, Danwei Wang
In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing category-level 6-DoF pose tracking.
no code implementations • 15 Dec 2023 • Tianchen Deng, Guole Shen, Tong Qin, Jianyu Wang, Wentao Zhao, Jingchuan Wang, Danwei Wang, Weidong Chen
To this end, we introduce PLGSLAM, a neural visual SLAM system capable of high-fidelity surface reconstruction and robust camera tracking in real-time.
no code implementations • 14 Dec 2023 • Tianchen Deng, Siyang Liu, Xuan Wang, Yejia Liu, Danwei Wang, Weidong Chen
Implicit neural representation has demonstrated promising results in view synthesis for large and complex scenes.
1 code implementation • 2 Sep 2023 • Jun Zhang, Huayang Zhuge, Yiyao Liu, Guohao Peng, Zhenyu Wu, Haoyuan Zhang, Qiyang Lyu, Heshan Li, Chunyang Zhao, Dogan Kircali, Sanat Mharolkar, Xun Yang, Su Yi, Yuanzhe Wang, Danwei Wang
5) Considered both middle- and large- scale outdoor environments, i. e., the 6 trajectories range from 246m to 6. 95km.
1 code implementation • International Conference on Robotics and Automation (ICRA) 2023 • Jun Zhang∗, Huayang Zhuge∗, Zhenyu Wu, Guohao Peng, Mingxing Wen, Yiyao Liu, Danwei Wang
LiDAR-based SLAM may easily fail in adverse weathers (e. g., rain, snow, smoke, fog), while mmWave Radar remains unaffected.
no code implementations • 19 Aug 2021 • Guohao Peng, Yufeng Yue, Jun Zhang, Zhenyu Wu, Xiaoyu Tang, Danwei Wang
(2) By exploiting the interpretability of the local weighting scheme, a semantic constrained initialization is proposed so that the local attention can be reinforced by semantic priors.
no code implementations • ICCV 2021 • Guohao Peng, Jun Zhang, Heshan Li, Danwei Wang
The core of visual place recognition (VPR) lies in how to identify task-relevant visual cues and embed them into discriminative representations.