5 papers
G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
Yufei Wei, Shuhao Ye, Chenxiao Hu +5
Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization and multi-camera rig odometry. Each group carries known intra-group geometry fro…
Ψ-Map: Panoptic Surface Integrated Mapping Enables Real2Sim Transfer
Xuan Yu, Yuxuan Xie, Changjian Jiang +4
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle…
Fast-SegSim: Real-Time Open-Vocabulary Segmentation for Robotics in Simulation
Xuan Yu, Yuxuan Xie, Shichao Zhai +3
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, o…
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactions
He Zhu, Quyu Kong, Kechun Xu +5
Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, f…