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Zikun Chen, Wentao Zhao, Tianchen Deng, and Jingchuan Wang are with the School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China. Yihe Niu is with the School of Mathematical Sciences Shanghai Jiao Tong University. Zikun Chen and Wentao Zhao contributed equally to this work. Jingchuan Wang (jchwang@sjtu.edu.cn) is the corresponding author
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Ditch brittle point-guided line matching: this VIO system uses optimal transport on learned line descriptors for globally consistent correspondences, boosting robustness in challenging visual conditions.
Polygon-shaped robots can now navigate tight spaces more efficiently thanks to a new collision avoidance method that avoids over-simplified geometric approximations.
