3 papers
cs.CV2026
GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization
Jeahn Han, Minji Kim, Jeongbin Sohn +3
Floorplans are compact, appearance-invariant maps ideal for indoor localization, yet existing methods rely on depth networks that are brittle in cluttered scenes. We propose GALoc,…
cs.CV2026
LightSplat: Fast and Memory-Efficient Open-Vocabulary 3D Scene Understanding in Five Seconds
Jaehun Bang, Jinhyeok Kim, Minji Kim +2
Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-…
cs.RO2024
SoMaSLAM: 2D Graph SLAM for Sparse Range Sensing with Soft Manhattan World Constraints
Jeahn Han, Zichao Hu, Seonmo Yang +2
We propose a graph SLAM algorithm for sparse range sensing that incorporates a soft Manhattan world utilizing landmark-landmark constraints. Sparse range sensing is necessary for t…