3 citations · 5 across the 15 of their papers we have counts for
15 papers
SplatlessDF: Continuous Distance Field Mapping with Non-Splatting Gaussians
Monisha Mushtary Uttsha, Lan Wu, Teresa Vidal-Calleja
Recent Gaussian splatting (GS) methods have shown that scenes can be represented efficiently with optimisable Gaussians for high-quality reconstruction and rendering. In this paper…
DisFlow: Scene Flow from Distance Field for Object Pose, Velocity Tracking, and Dynamic Object Reconstruction
Lan Wu, Sheila Sutjipto, Jennifer Wakulicz +1
We present \emph{DisFlow}, a novel framework for online scene flow estimation from distance field that enables \emph{6DoF dynamic object pose estimation}, \emph{motion tracking}, a…
DanQing: An Up-to-Date Large-Scale Chinese Vision-Language Pre-training Dataset
Hengyu Shen, Tiancheng Gu, Bin Qin +10
Vision-Language Pre-training (VLP) models have achieved remarkable success by leveraging large-scale image-text pairs. While English-centric models like CLIP and SigLIP benefit fro…
LEAF-Mamba: Local Emphatic and Adaptive Fusion State Space Model for RGB-D Salient Object Detection
Lanhu Wu, Zilin Gao, Hao Fei +2
RGB-D salient object detection (SOD) aims to identify the most conspicuous objects in a scene with the incorporation of depth cues. Existing methods mainly rely on CNNs, limited by…
Listen to Your Map: An Online Representation for Spatial Sonification
Lan Wu, Craig Jin, Monisha Mushtary Uttsha +1
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a ma…
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
Monisha Mushtary Uttsha, Cedric Le Gentil, Lan Wu +1
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which fa…
DynORecon: Dynamic Object Reconstruction for Navigation
Yiduo Wang, Jesse Morris, Lan Wu +2
This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observe…
Safe Bubble Cover for Motion Planning on Distance Fields
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil +3
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of s…
VDB-GPDF: Online Gaussian Process Distance Field with VDB Structure
Lan Wu, Cedric Le Gentil, Teresa Vidal-Calleja
Robots reason about the environment through dedicated representations. Popular choices for dense representations exploit Truncated Signed Distance Functions (TSDF) and Octree data…
Exploring Probabilistic Distance Fields in Robotics
Lan Wu
The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each…
Interactive Distance Field Mapping and Planning to Enable Human-Robot Collaboration
Usama Ali, Lan Wu, Adrian Mueller +3
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interacti…
Accurate Gaussian-Process-based Distance Fields with applications to Echolocation and Mapping
Cedric Le Gentil, Othmane-Latif Ouabi, Lan Wu +2
This paper introduces a novel method to estimate distance fields from noisy point clouds using Gaussian Process (GP) regression. Distance fields, or distance functions, gained popu…
Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning
Lan Wu, Ki Myung Brian Lee, Cedric Le Gentil +1
Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used dire…
Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators
Liyang Liu, Simon Fryc, Lan Wu +3
In this letter, we present an interactive probabilistic mapping framework for a mobile manipulator picking objects from a pile. The aim is to map the scene, actively decide where t…
Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces
Lan Wu, Ki Myung Brian Lee, Liyang Liu +1
In this letter, we introduce the Log-Gaussian Process Implicit Surface (Log-GPIS), a novel continuous and probabilistic mapping representation suitable for surface reconstruction a…