Author

Can Xu

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Preprint Oct 2026

FOCUS: Fine-Grained Open-Vocabulary Change Detection for Uncertainty-Aware Semi-Static Scenes

Autonomous robots operating over long periods must keep their environmental memory up to date as the world changes between visits. In semi-static environments, an object may be replaced in place by a different but geometrically and semantically similar instance, making the identity change difficult to detect from geome...

Can Xu, Ming-Feng Yuan, Mahan Mohammadi et al. · 0 citations

Preprint Sep 2026

MAC-I$^2$: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration

Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Existing methods, however, fuse the two modalities with predefined uncertainties, regardless of how reliable each is in the local context, and t...

Xiang Fei, Yu-Heng Qiu, Can Xu et al. · 0 citations