arXiv:2609.00713v1 Announce Type: new
Abstract: Estimation of the absolute pose of an object is an essential task for various robotic applications. Recently, incorporating gravity direction as prior...
By Hu Cao, Qianyi Yang, Xinyi Li, Jiong Liu, Yinlong Liu, Alois Knoll
The paper introduces a new framework for estimating full-degree-of-freedom egomotion directly from asynchronous optical flow captured by event cameras. By decoupling the differential epipolar constraint into angular and linear components and applying a first-order approximation, the authors derive a polynomial formulation that yields the first algebraic minimal 5‑point solver for this problem. An accelerated solver that truncates high‑order angular velocity terms is also proposed, enabling real‑time performance in high‑speed scenarios, and extensive tests show superior accuracy and robustness compared to traditional synchronous methods.
By Shuo Pan, Banglei Guan, Bin Li, Zhenbao Yu, Zibin Liu, Zi Wang, Yang Shang, Qifeng Yu
arXiv:2602.16365v2 Announce Type: replace-cross
Abstract: Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear hysteresis limits feedforward co...
By Junhyun Park, Chunggil An, Myeongbo Park, Ihsan Ullah, Sihyeong Park, Minho Hwang
arXiv:2609.24482v1 Announce Type: new
Abstract: Monocular 3D human pose estimation (HPE) remains challenging due to depth ambiguity, occlu- sions, and the need for temporal consistency. While multi-v...
By Mena Kamel, Natalie Won, Amrut Sarangi, Sven Jager, Albert Pla Planas
Monocular depth estimation is a fundamental prerequisite for 3D reconstruction and autonomous navigation in Unmanned Aerial Vehicles (UAVs). In practical deployments, UAVs operate under highly dynamic camera poses characterized by continuous variations in height, pitch, roll, and field of view (FOV).
DefVINS is a visual‑inertial odometry pipeline tailored for deformable scenes, breaking the rigidity assumption of traditional VIO. It decomposes the odometry state into a rigid, IMU‑anchored component and a non‑rigid scene warp using an embedded deformation graph. The authors also introduce VIMandala, the first real‑world benchmark with ground‑truth camera poses for deformable VIO, and extend the synthetic Drunkard’s benchmark with inertial data, demonstrating that DefVINS outperforms both rigid and non‑rigid baselines.
By Samuel Cerezo, Javier Civera