4 papers
FLM-Occ: Feed-forward Likelihood Maximization for Efficient Indoor Occupancy Prediction
Guangcheng Chen, Lihuang Fang, Huaqi Tao +3
Recent indoor occupancy prediction methods adopt Gaussian primitives as a sparse 3D representation for computational efficiency. However, their training relies on voxel classificat…
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…
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…
PISR: Polarimetric Neural Implicit Surface Reconstruction for Textureless and Specular Objects
Guangcheng Chen, Yicheng He, Li He +1
Neural implicit surface reconstruction has achieved remarkable progress recently. Despite resorting to complex radiance modeling, state-of-the-art methods still struggle with textu…