Zobrazeno 1 - 10
of 43
pro vyhledávání: '"Li, Kailai"'
3D visual grounding (3DVG) aims to locate objects in a 3D scene with natural language descriptions. Supervised methods have achieved decent accuracy, but have a closed vocabulary and limited language understanding ability. Zero-shot methods mostly ut
Externí odkaz:
http://arxiv.org/abs/2411.14594
Continuous-time trajectory representation has gained significant popularity in recent years, as it offers an elegant formulation that allows the fusion of a larger number of sensors and sensing modalities, overcoming limitations of traditional discre
Externí odkaz:
http://arxiv.org/abs/2410.22931
This letter proposes a new method for joint state and parameter estimation in uncertain dynamical systems. We exploit the partial errors-in-variables (PEIV) principle and formulate a regression problem in the sense of weighted total least squares, wh
Externí odkaz:
http://arxiv.org/abs/2407.01801
Autor:
Li, Kailai
We present a principled study on establishing a novel probabilistic framework for state estimation. B-splines are embedded in the state-space modeling as a continuous-time intermediate between the states of recurrent control points and asynchronous s
Externí odkaz:
http://arxiv.org/abs/2307.00637
Autor:
Cao, Ziyu, Li, Kailai
We present a principled study on defining Gaussian processes (GPs) with inputs on the product of directional manifolds. A circular kernel is first presented according to the von Mises distribution. Based thereon, the hypertoroidal von Mises (HvM) ker
Externí odkaz:
http://arxiv.org/abs/2303.06799
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic deriva
Externí odkaz:
http://arxiv.org/abs/2301.09033
We propose a novel scheme for efficient Dirac mixture modeling of distributions on unit hyperspheres. A so-called hyperspherical localized cumulative distribution (HLCD) is introduced as a local and smooth characterization of the underlying continuou
Externí odkaz:
http://arxiv.org/abs/2110.10411
Publikováno v:
IEEE Robotics and Automation Letters, 2021
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backe
Externí odkaz:
http://arxiv.org/abs/2010.13150
Akademický článek
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We present a novel Riemannian approach for planar pose graph optimization problems. By formulating the cost function based on the Riemannian metric on the manifold of dual quaternions representing planar motions, the nonlinear structure of the SE(2)
Externí odkaz:
http://arxiv.org/abs/1907.13566