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cs.CV2026
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…
cs.RO2026
Overlapping Domain Decomposition for Distributed Pose Graph Optimization
Aneesa Sonawalla, Yulun Tian, Jonathan P. How
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domai…