Research
Research
Research
Research
35+ open-access research outputs.
Generalization under manipulation and dataset shift remains a core challenge in forged media detection for AI-driven edge sensing systems. Frozen vision foundation models with linear probes are strong…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and …
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checker…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image i…
Multimodal sensor fusion enables robust environmental perception by leveraging complementary information from heterogeneous sensing modalities. However, accurate calibration is a critical prerequisite…
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the …
Today, Time Delay Neural Network (TDNN) has become the mainstream architecture for speaker verification task, in which the ECAPA-TDNN is one of the state-of-the-art models. The current works that focu…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leverag…
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration …
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. …
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 …
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. However, the spatial and …
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorit…
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with…
With excellent generalization ability, SSL speech models have shown impressive performance on various downstream tasks in the pre-training and fine-tuning paradigm. However, as the size of pre-trained…
Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Trad…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared…
The increasing necessity for fisheye cameras in fields such as robotics and autonomous driving has led to the proposal of various fisheye camera models. While the evolution of camera models has facili…
Event camera, a bio-inspired asynchronous triggered camera, offers promising prospects for fusion with frame-based cameras owing to its low latency and high dynamic range. However, calibrating stereo …
Asynchronous microphone array calibration is a prerequisite for many audition robot applications. A popular solution to the above calibration problem is the batch form of Simultaneous Localisation and…
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