9 papers · 1 filter
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
Giorgio Tonetti, Laurent Kneip, Abel Gawel +1
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely…
Tripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks
Julien Kindle, Jakub Raczy, Riccardo Balbi +3
Many ceiling construction tasks still rely on heavy serial manipulators that are difficult to deploy in cluttered interiors, motivating lightweight, field-ready alternatives that r…
SE(2) Navigation Mesh
Shuyang Shi, Kaixian Qu, Changan Chen +3
Global navigation for ground robots in complex multi-level environments requires representations that accurately capture traversable regions while enabling efficient path planning.…
DiskChunGS: Large-Scale 3D Gaussian SLAM Through Chunk-Based Memory Management
Casimir Feldmann, Maximum Wilder-Smith, Vaishakh Patil +4
Recent advances in 3D Gaussian Splatting (3DGS) have demonstrated impressive results for novel view synthesis with real-time rendering capabilities. However, integrating 3DGS with…
FOCI: Trajectory Optimization on Gaussian Splats
Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm +3
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging th…
Radiance Fields for Robotic Teleoperation
Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter
Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting (3DGS), have revolutionized graphics and novel view synthesis. Their ability to synthesize ne…