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.
Vins-mono: A robust and versatile monocular visual-inertial state estimator.IEEE transactions on robotics, 34(4):1004– 1020, 2018
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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.
citing papers explorer
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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.