94 citations · 167 across the 18 of their papers we have counts for
19 papers
Multi-Submap Implicit Neural SLAM with Local-to-Global Loop Closure for Large-Scale Scene Reconstruction
Tianchen Deng, Chongdi Wang, Nailin Wang +6
Neural Radiance Fields (NeRF)-based SLAM has demonstrated impressive results in small-scale scene reconstruction, yet scaling these methods to extensive, complex environments remai…
CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping
Lei Zhao, Xingyi Li, Tianchen Deng +3
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fus…
CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mapping
Wenhua Wu, Chenpeng Su, Siting Zhu +6
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However…
VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenes
Tianchen Deng, Wenhua Wu, Junjie He +4
3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle…
SN-LiDAR: Semantic Neural Fields for Novel Space-time View LiDAR Synthesis
Yi Chen, Tianchen Deng, Wentao Zhao +4
Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing appro…
An Efficient LiDAR-Camera Fusion Network for Multi-Class 3D Dynamic Object Detection and Trajectory Prediction
Yushen He, Lei Zhao, Tianchen Deng +2
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the p…
SALT: A Flexible Semi-Automatic Labeling Tool for General LiDAR Point Clouds with Cross-Scene Adaptability and 4D Consistency
Yanbo Wang, Yongtao Chen, Chuan Cao +4
We propose a flexible Semi-Automatic Labeling Tool (SALT) for general LiDAR point clouds with cross-scene adaptability and 4D consistency. Unlike recent approaches that rely on cam…
SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds
Yanbo Wang, Wentao Zhao, Chuan Cao +3
Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mech…
Multi-Modal UAV Detection, Classification and Tracking Algorithm -- Technical Report for CVPR 2024 UG2 Challenge
Tianchen Deng, Yi Zhou, Wenhua Wu +9
This technical report presents the 1st winning model for UG2+, a task in CVPR 2024 UAV Tracking and Pose-Estimation Challenge. This challenge faces difficulties in drone detection,…
MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis
Shuhong Liu, Tianchen Deng, Heng Zhou +4
Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete…
RoGs: Large Scale Road Surface Reconstruction with Meshgrid Gaussian
Zhiheng Feng, Wenhua Wu, Tianchen Deng +1
Road surface reconstruction plays a crucial role in autonomous driving, which can be used for road lane perception and autolabeling. Recently, mesh-based road surface reconstructio…
NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap
Jingwei Huang, Mingrui Li, Lei Sun +3
SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatt…
Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenes
Tianchen Deng, Nailin Wang, Chongdi Wang +5
Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in larg…
NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising
Tianchen Deng, Yanbo Wang, Hongle Xie +4
In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (N…
Point Mamba: A Novel Point Cloud Backbone Based on State Space Model with Octree-Based Ordering Strategy
Jiuming Liu, Ruiji Yu, Yian Wang +4
Recently, state space model (SSM) has gained great attention due to its promising performance, linear complexity, and long sequence modeling ability in both language and image doma…
SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM
Mingrui Li, Shuhong Liu, Heng Zhou +4
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimizati…
PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment
Tianchen Deng, Guole Shen, Tong Qin +5
Neural implicit scene representations have recently shown encouraging results in dense visual SLAM. However, existing methods produce low-quality scene reconstruction and low-accur…
ProSGNeRF: Progressive Dynamic Neural Scene Graph with Frequency Modulated Foundation Model in Urban Scenes
Tianchen Deng, Yanbo Wang, Yejia Liu +5
Implicit neural representation has demonstrated promising results in 3D reconstruction on various scenes. However, existing approaches either struggle to model fast-moving objects…
ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments
Bin Peng, Hongle Xie, Weidong Chen
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against thos…