5 papers
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…
VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction
Xun Chen, Tianchen Deng, Rui Wang +5
3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset…
UniLGL: Learning Uniform Place Recognition for FOV-limited/Panoramic LiDAR Global Localization
Hongming Shen, Xun Chen, Yulin Hui +5
Existing LGL methods typically consider only partial information (e.g., geometric features) from LiDAR observations or are designed for homogeneous LiDAR sensors, overlooking the u…
Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer
Tianchen Deng, Wenhua Wu, Kunzhen Wu +7
Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a lat…
MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation
Tianchen Deng, Guole Shen, Xun Chen +9
Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenari…