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Abstract: In this work, we introduce a novel multimodal descriptor, the image-assisting binary and triangle combined (iBTC) descriptor, which fuses LiDAR (Light Detection and Ranging) and camera ...

Abstract: This paper presents a novel one-shot global localization algorithm based on semantic-guided triangle descriptors to address initialization and global localization challenges in GNSS-denied ...

Developed a Wi-Fi-controlled mobile manipulator using ESP32-CAM with real-time video streaming and WebSocket teleoperation. Integrated a 4-DOF servo arm and modular gripper. Implemented visual loca ...