5 papers · 1 filter
LCP-Fusion: A Neural Implicit SLAM with Enhanced Local Constraints and Computable Prior
Jiahui Wang, Yinan Deng, Yi Yang +1
Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nev…
OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph
Yujie Tang, Meiling Wang, Yinan Deng +3
In everyday life, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a…
OpenObj: Open-Vocabulary Object-Level Neural Radiance Fields with Fine-Grained Understanding
Yinan Deng, Jiahui Wang, Jingyu Zhao +3
In recent years, there has been a surge of interest in open-vocabulary 3D scene reconstruction facilitated by visual language models (VLMs), which showcase remarkable capabilities…
LGSDF: Continual Global Learning of Signed Distance Fields Aided by Local Updating
Yufeng Yue, Yinan Deng, Jiahui Wang +1
Implicit reconstruction of ESDF (Euclidean Signed Distance Field) involves training a neural network to regress the signed distance from any point to the nearest obstacle, which ha…
OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments
Yinan Deng, Jiahui Wang, Jingyu Zhao +4
Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out…