5 papers
GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping
Annika Thomas, Mason Peterson, Jonathan P. How
Existing 3D Gaussian Splatting (3DGS) systems distribute representation capacity uniformly across a scene, ignoring the fact that many downstream robotic tasks engage only a fracti…
VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization
Hannah Shafferman, Annika Thomas, Jouko Kinnari +3
Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent,…
GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM
Annika Thomas, Aneesa Sonawalla, Alex Rose +1
3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplor…
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization
Mason B. Peterson, Yixuan Jia, Yulun Tian +2
Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly di…
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…