11 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…
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…
UniPR-3D: Towards Universal Visual Place Recognition with Visual Geometry Grounded Transformer
Tianchen Deng, Xun Chen, Ziming Li +5
Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively…
MIL-LC: A Robust Magnetometer-Inertial-LiDAR Fusion Multimodal Localization Framework
Qiyang Lyu, Zhenyu Wu, Wei Wang +2
Localization in challenging environments, such as GNSS-denied, geometrically repetitive, or textureless scenes commonly found in offices, hotels, and underground parking facilities…
Compact 3D Gaussian Splatting For Dense Visual SLAM
Tianchen Deng, Chang Nie, Shuhong Liu +6
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are bu…
What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models
Tianchen Deng, Yue Pan, Shenghai Yuan +10
In this paper, we provide a comprehensive overview of existing scene representation methods for robotics, covering traditional representations such as point clouds, voxels, signed…