This paper introduces VIDAR, a framework for metric dense monocular reconstruction using visual-inertial odometry and Depth Anything 3.

This paper presents a two-stage recovery approach for camera-only low-cost unmanned ground vehicles to restore guideline tracking when lines are lost.

This paper compares the performance of open-loop and closed-loop filters in inertial navigation systems using simulations.

This paper proposes Metric-DROID, an end-to-end recurrent architecture for precise metric depth estimation in monocular autonomous robot navigation, using proprioceptive odometry and a LSTM Update Ope…

PixVOD proposes a fully parallelizable, pixel-distributed framework for visual odometry and depth estimation that performs computations directly on the sensor using Gaussian Belief Propagation.

GLAM-SLAM is a real-time, decoupled Gaussian-splatting SLAM system for large-scale outdoor scenes with a robust feature-based frontend and structured sparse mapping representation.

This paper introduces Vision-Language-Motion Maps (VLMM), an open-vocabulary, natural-language-queryable 3D map with fused motion attributes and per-element uncertainty, which outperforms semantic-onl…

This paper presents a new modular architecture for NeoSLAM using modern frameworks, achieving real-time execution and minimal data discarding. It also compares NeoSLAM and RatSLAM across three dataset…

This tutorial-style review focuses on kinematics of inertial measurement units (IMUs) for human motion capture and introduces methods to determine adequate formulations for sensor measurements.

The paper introduces MetricScenes, a new large-scale, in-the-wild dataset, and demonstrates that fine-tuning existing geometry models on this dataset significantly mitigates the scale-collapse problem…

This paper addresses robot localization in GPS-denied indoor environments using a semantic reasoning approach with a vision-language model, achieving high accuracy with a composite loss and curriculum…

This paper introduces a nonlinear, actuator-aware safety filter for 3D Gaussian Splatting (3DGS) based on full quadrotor dynamics, reducing trajectory jerk by 47% and running 2.25 times faster than ex…

This paper introduces Camera-Centric VLA, a new model for Vision-Language-Action policies that predicts camera-centric actions and hand-eye matrix, allowing the policy to figure out camera geometry on…

Ultra Diffusion Poser is a novel diffusion model that improves human motion tracking from sparse IMUs and UWB ranging by explicitly modeling the geometric constraints imposed by inter-sensor distances…

This paper proposes VOP-Nav, a novel navigation system for quadruped robots that combines the geometric safety of Velocity Obstacles with the agile adaptability of end-to-end learning.