UMI-3D integrates LiDAR into the UMI hardware for robust multimodal 3D perception in manipulation demonstrations, yielding higher policy success rates and enabling previously infeasible tasks like deformable object handling.
Efficient and probabilistic adaptive voxel mapping for accurate online lidar odometry.IEEE Robotics and Automation Letters, 7(3):8518–8525
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BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.
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UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception
UMI-3D integrates LiDAR into the UMI hardware for robust multimodal 3D perception in manipulation demonstrations, yielding higher policy success rates and enabling previously infeasible tasks like deformable object handling.
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BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.