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cs.RO2026
Cross-Spectral Stereo Inertial Odometry
Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3
Standard stereo VIO focuses exclusively on the benefit of metric scale via single-spectrum baselines, often overlooking the risks of spectral redundancy. This structural limitation…
cs.RO2026
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Christina Kassab, Hyeonjae Gil, Matías Mattamala +2
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping metho…