7 citations · 10 across the 13 of their papers we have counts for
14 papers
Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering
Tianchen Deng, Guole Shen, Yilin Shen +7
Recent 3D foundation models enable generalizable geometric reasoning from RGB images but remain limited in persistent memory, scalability, and renderable scene modeling. We present…
Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift
Yangyang Ning, Shu Liang, Quanbo Ge +3
Learning is increasingly introduced into visual-inertial odometry (VIO), ranging from learned feature front-ends to learning-dominant motion and geometry estimation. However, learn…
What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models
Tianchen Deng, Yue Pan, Shenghai Yuan +10
In this paper, we provide a comprehensive overview of existing scene representation methods for robotics, covering traditional representations such as point clouds, voxels, signed…
ReCCur: A Recursive Corner-Case Curation Framework for Robust Vision-Language Understanding in Open and Edge Scenarios
Yihan Wei, Shenghai Yuan, Tianchen Deng +2
Corner cases are rare or extreme scenarios that drive real-world failures, but they are difficult to curate at scale: web data are noisy, labels are brittle, and edge deployments p…
TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion
Rui Qian, Haozhi Cao, Tianchen Deng +4
Embodied 3D Semantic Scene Completion (SSC) infers dense geometry and semantics from continuous egocentric observations. Most existing Gaussian-based methods rely on random initial…
SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion
Rui Qian, Haozhi Cao, Tianchen Deng +2
Monocular 3D Semantic Scene Completion (SSC) is a challenging yet promising task that aims to infer dense geometric and semantic descriptions of a scene from a single image. While…
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…
UNO: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment
Wentao Zhao, Yihe Niu, Yanbo Wang +5
This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns.…
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…
FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech
Yuzhi Lai, Shenghai Yuan, Peizheng Li +4
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture-…
Audio Array-Based 3D UAV Trajectory Estimation with LiDAR Pseudo-Labeling
Allen Lei, Tianchen Deng, Han Wang +2
As small unmanned aerial vehicles (UAVs) become increasingly prevalent, there is growing concern regarding their impact on public safety and privacy, highlighting the need for adva…
AIR-Embodied: An Efficient Active 3DGS-based Interaction and Reconstruction Framework with Embodied Large Language Model
Zhenghao Qi, Shenghai Yuan, Fen Liu +4
Recent advancements in 3D reconstruction and neural rendering have enhanced the creation of high-quality digital assets, yet existing methods struggle to generalize across varying…
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling
Hongming Shen, Zhenyu Wu, Yulin Hui +6
In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single…
Compact 3D Gaussian Splatting For Dense Visual SLAM
Tianchen Deng, Chang Nie, Shuhong Liu +6
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are bu…