9 papers
Graph-GSReg: Leveraging 3D Scene Graphs for Gaussian Splatting Registration
Jaewon Lee, Mangyu Kong, Euntai Kim
Merging multiple 3D Gaussian Splatting (3DGS) scenes into a single unified Gaussian representation is essential for large-scale 3D mapping and long-term map management. Despite its…
Rethinking Pose Refinement in 3D Gaussian Splatting under Pose Prior and Geometric Uncertainty
Mangyu Kong, Jaewon Lee, Seongwon Lee +1
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high…
HypeVPR: Exploring Hyperbolic Space for Perspective to Equirectangular Visual Place Recognition
Suhan Woo, Seongwon Lee, Jinwoo Jang +1
Visual environments are inherently hierarchical, as a panoramic view naturally encompasses and organizes multiple perspective views within its field. Capturing this hierarchy is cr…
G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
Gyuhyeon Pak, Hae Min Cho, Euntai Kim
In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust c…
RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition
Yechan Park, Gyuhyeon Pak, Euntai Kim
While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures ad…
Fast Global Localization on Neural Radiance Field
Mangyu Kong, Seongwon Lee, Jaewon Lee +1
Neural Radiance Fields (NeRF) presented a novel way to represent scenes, allowing for high-quality 3D reconstruction from 2D images. Following its remarkable achievements, global l…