5 papers
EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition
Nuo Chen, Kangqi Ni, Lulin Liu +5
Dense 3D reconstruction is critical for clinical endoscopic navigation and documentation. While Gaussian Splatting SLAM systems show promise in this domain, they fundamentally rely…
DarkVGGT: Seeing Through Darkness Using Thermal Geometry without Daylight Tax
Minseong Kweon, Wenyuan Zhao, Nuo Chen +6
Recent feed-forward 3D reconstruction methods have demonstrated strong performance and flexibility in efficient end-to-end scene geometry estimation from image streams. However, th…
Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control
Dawei Zhang, Nuo Chen, Shuo Liu +2
We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and te…
Towards UAV Detection in the Real World: A New Multispectral Dataset UAVNet-MS and a New Method
Yihang Luo, Jun Chen, Chao Xiao +13
The proliferation of unmanned aerial vehicles (UAVs) has created urgent demand for precise UAV monitoring. Existing RGB-based systems rely on spatial cues that degrade at small sca…
Trust It or Not: Evidential Uncertainty for Feed-Forward 3D Reconstruction with Trust3R
Zihao Zhu, Wenyuan Zhao, Nuo Chen +2
Geometric foundation models hold promise for unconstrained dense geometry prediction from uncalibrated images. However, in current feed-forward designs, their predicted confidence…