The existing singularity-free guiding vector field (SF-GVF) with an additional virtual coordinate can eliminate singular points (i.e., points where the vector field vanishes) inherent in conventional GVFs and guarantee global convergence of robot trajectories to closed and self-intersecting desired paths. However, the...
Zhou-Ru Xiao, Sha Luo, Yang Lu et al.· 0 citations
Temporal Action Detection (TAD) in untrimmed videos requires effective spatial feature extraction for precise action classification and temporal feature modeling for accurate boundary localization. To achieve effective spatio-temporal feature integration, several works manually design rule-based (i.e., sequential or pa...
Yi Tang, Man-Sen Chen, Le-Peng Chen et al.· IEEE Transactions on Image P...· 0 citations
Point cloud registration is crucial in real-world applications such as robotics and automation. While deep learning-based methods have made substantial progress in this domain, their generalization remains limited in heterogeneous environments. This limitation primarily arises from their strong reliance on domain-speci...
Jing-Yu Zhou, Yun-Feng Ma, Shuai Jiang et al.· IEEE Transactions on Automat...· 0 citations
A generalized motion planning and control framework consisting of a finite-time curvature-constrained vector field (FT-C2VF) and a saturation-free control law is proposed, which establishes almost-global finite-time stability of the target equilibrium.
Zhou-Ru Xiao, Sha Luo, Yang Lu et al.· arXiv.org· 0 citations
A safety-oriented collision avoidance vector field with adaptively adjustable reactive boundary is developed to accommodate the kinematic curvature constraints of robots, thereby ensuring the physical feasibility of collision avoidance maneuvers.
Zhou-Ru Xiao, Tao Teng, Wei-Jia Yao et al.· 0 citations
This work proposes a hyperbolic learning-based approach to address 3D scene graph generation by leveraging hyperbolic geometry to learn hierarchical 3D scene representations in the form of scene-region-instance, where the scene represents the complete 3D environment, a region contains related instances, and an instance...
Hao-Ran Hou, Ming-Tao Feng, Qing Zhu et al.· IEEE Transactions on Pattern...· 0 citations
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