IEEE Transactions on Robotics最新文献_第3页

SG-Reg: Generalizable and Efficient Scene Graph Registration SG-Reg：通用和高效的场景图配准

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577020

Chuhao Liu, Zhijian Qiao, Jieqi Shi, Ke Wang, Peize Liu, Shaojie Shen

引用次数: 0

BotVIO: A Lightweight Transformer-Based Visual–Inertial Odometry for Robotics BotVIO：一种基于轻型变压器的机器人视觉惯性里程计

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/TRO.2025.3577054

Wenhui Wei;Yangfan Zhou;Yimin Hu;Zhi Li;Sen Wang;Xin Liu;Jiadong Li

{"title":"BotVIO: A Lightweight Transformer-Based Visual–Inertial Odometry for Robotics","authors":"Wenhui Wei;Yangfan Zhou;Yimin Hu;Zhi Li;Sen Wang;Xin Liu;Jiadong Li","doi":"10.1109/TRO.2025.3577054","DOIUrl":"10.1109/TRO.2025.3577054","url":null,"abstract":"Visual–inertial odometry (VIO) provides a robust localization solution for simultaneous localization and mapping systems. Self-supervised VIO, a leading approach, has the advantage of not requiring extensive ground-truth labels. Regrettably, this method still poses challenges for robotic applications, particularly uncrewed aerial vehicles, due to its computational complexity arising from inadequate model designs. To address this bottleneck, we introduce BotVIO (where “Bot” refers to “robotics”), a transformer-based self-supervised VIO model, offering an excellent solution to alleviate computational burdens for robotics. Our lightweight backbone combines shallow CNNs with spatial–temporal-enhanced transformers to replace conventional architectures, while the minimalist cross-fusion module uses single-layer cross-attention to enhance multimodal interaction. Extensive experiments show that, during pose estimation, BotVIO achieves a remarkable 70.37% reduction in trainable parameters and a 74.85% decrease in inference speed, reaching up to 57.80 fps on an NVIDIA Jetson NX (10W&2CORE), while improving pose accuracy and robustness. For the benefit of the community, we make public the source code.<sup>1</sup>","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3760-3778"},"PeriodicalIF":9.4,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144228557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Enhancing Grasping Diversity with a Pinch-Suction and Soft-Rigid Hybrid Multimodal Gripper 夹吸软刚混合多模态夹持器提高抓取多样性

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577014

Yuwen Zhao, Jiaqi Zhu, Jie Zhang, Siyuan Zhang, Maosen Shao, Zhiping Chai, Yimu Liu, Jianing Wu, Zhigang Wu, Jinxiu Zhang

引用次数: 0

EeLsT: An Energy-efficient Long-short Term Approach for Sustainable Sailboat Autonomy in Disturbed Marine Environment EeLsT：在受干扰的海洋环境中可持续帆船自主的一种节能的长短期方法

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577058

Qinbo Sun, Weimin Qi, Huihuan Qian

引用次数: 0

TacFlex: Multi-Mode Tactile Imprints Simulation for Visuotactile Sensors with Coating Patterns TacFlex：具有涂层图案的视觉触觉传感器的多模式触觉印迹模拟

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3576970

Chaofan Zhang, Shaowei Cui, Jingyi Hu, Tianyu Jiang, Tiandong Zhang, Rui Wang, Shuo Wang

引用次数: 0

Goal-Conditioned Model Simplification for 1-D and 2-D Deformable Object Manipulation 一维和二维可变形对象操作的目标条件模型简化

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577052

Shengyin Wang, Matteo Leonetti, Mehmet Dogar

引用次数: 0

RoTipBot: Robotic Handling of Thin and Flexible Objects Using Rotatable Tactile Sensors RoTipBot：使用可旋转触觉传感器处理薄而柔韧物体的机器人

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/TRO.2025.3576951

Jiaqi Jiang;Xuyang Zhang;Daniel Fernandes Gomes;Thanh-Toan Do;Shan Luo

{"title":"RoTipBot: Robotic Handling of Thin and Flexible Objects Using Rotatable Tactile Sensors","authors":"Jiaqi Jiang;Xuyang Zhang;Daniel Fernandes Gomes;Thanh-Toan Do;Shan Luo","doi":"10.1109/TRO.2025.3576951","DOIUrl":"10.1109/TRO.2025.3576951","url":null,"abstract":"This article introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then grasp them simultaneously in a single grasp closure. Specifically, we first develop a vision-based tactile sensor named RoTip that can rotate and sense contact information around its tip. Equipped with two RoTip sensors, RoTipBot rolls and feeds multiple layers of thin, flexible objects into the centre between its fingers, enabling effective grasping. Moreover, we design a tactile-based grasping strategy that uses RoTip’s sensing ability to ensure both fingers maintain secure contact with the object while accurately counting the number of fed objects. Extensive experiments demonstrate the efficacy of the RoTip sensor and the RoTipBot approach. The results show that RoTipBot not only achieves a higher success rate but also grasps and counts multiple layers simultaneously—capabilities not possible with previous methods. Furthermore, RoTipBot operates up to three times faster than state-of-the-art methods. The success of RoTipBot paves the way for future research in object manipulation using mobilized tactile sensors.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3684-3702"},"PeriodicalIF":9.4,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144228567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ROVER: A Multi-Season Dataset for Visual SLAM ROVER：一个多季节的视觉SLAM数据集

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577026

Fabian Schmidt, Julian Daubermann, Marcel Mitschke, Constantin Blessing, Stephan Meyer, Markus Enzweiler, Abhinav Valada

引用次数: 0

A Learning-based Quadcopter Controller with Extreme Adaptation 一种基于学习的极自适应四轴飞行器控制器

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577037

Dingqi Zhang, Antonio Loquercio, Jerry Tang, Ting-Hao Wang, Jitendra Malik, Mark W. Mueller

引用次数: 0

A Novel Iterative Solution to the Perspective-$n$-Point Problem via Cost Function Approximation 基于成本函数逼近的透视n点问题的一种新的迭代解

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-06-05 DOI: 10.1109/tro.2025.3577061

Lipu Zhou, Zhenzhong Wei, Xu Wang

引用次数: 0