87 citations · 105 across the 10 of their papers we have counts for
9 papers · 1 filter
Dynamic Visual SLAM using a General 3D Prior
Xingguang Zhong, Liren Jin, Marija Popović +2
Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. Ho…
Globally Consistent RGB-D SLAM with 2D Gaussian Splatting
Xingguang Zhong, Yue Pan, Liren Jin +3
Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient…
Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation
Haofei Kuang, Yue Pan, Xingguang Zhong +3
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo lo…
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map
Yue Pan, Xingguang Zhong, Liren Jin +4
Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be ach…
ActiveGS: Active Scene Reconstruction Using Gaussian Splatting
Liren Jin, Xingguang Zhong, Yue Pan +3
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene…
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency
Yue Pan, Xingguang Zhong, Louis Wiesmann +3
Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, cal…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…
Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration
Yuman Gao, Yingjian Wang, Xingguang Zhong +6
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidt…
Generating Large Convex Polytopes Directly on Point Clouds
Xingguang Zhong, Yuwei Wu, Dong Wang +3
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clo…