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cs.RO2025
VG-Mapping: Variation-aware Density Control for Online 3D Gaussian Mapping in Semi-static Scenes
Yicheng He, Jingwen Yu, Guangcheng Chen +1
Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promp…
cs.RO2024
Optimizing NeRF-based SLAM with Trajectory Smoothness Constraints
Yicheng He, Guangcheng Chen, Hong Zhang
The joint optimization of Neural Radiance Fields (NeRF) and camera trajectories has been widely applied in SLAM tasks due to its superior dense mapping quality and consistency. NeR…