17 papers
Accelerating Large-scale Bundle Adjustment for LiDAR Mapping via Parallel Computing
Yixi Cai, Rundong Li, Yuhan Xie +3
LiDAR bundle adjustment is widely utilized in mapping to construct globally consistent point cloud maps. In this paper, we propose the first fully parallel computing framework to a…
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
Ermanno Bartoli, Buwei He, Dennis Rotondi +6
Robots operating in human environments need memories that capture not only what objects exist and where, but also how people use them over time and how individual interactions comp…
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
The paper proposes a risk‑aware belief control barrier function framework that ensures robot safety in dynamic, uncertain environments by modeling multi‑object state uncertainty wi…
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Ermanno Bartoli, Dennis Rotondi, Buwei He +3
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs…
PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving
Maciej K. Wozniak, Lianhang Liu, Yixi Cai +1
While end-to-end autonomous driving models show promising results, their practical deployment is often hindered by large model sizes, a reliance on expensive LiDAR sensors and comp…
SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Data
Qingwen Zhang, Xiaomeng Zhu, Chenhan Jiang +1
Reliable 3D dynamic perception requires models that can anticipate motion beyond predefined categories, yet progress is hindered by the scarcity of dense, high-quality motion annot…