4 papers
Keyframe-Based Feed-Forward Visual Odometry
Weichen Dai, Wenhan Su, Da Kong +2
The emergence of visual foundation models has revolutionized visual odometry~(VO) and SLAM, enabling pose estimation and dense reconstruction within a single feed-forward network.…
CUS-GS: A Compact Unified Structured Gaussian Splatting Framework for Multimodal Scene Representation
Yuhang Ming, Chenxin Fang, Xingyuan Yu +4
Recent advances in Gaussian Splatting based 3D scene representation have shown two major trends: semantics-oriented approaches that focus on high-level understanding but lack expli…
3D Scene-Camera Representation with Joint Camera Photometric Optimization
Weichen Dai, Kangcheng Ma, Jiaxin Wang +4
Representing scenes from multi-view images is a crucial task in computer vision with extensive applications. However, inherent photometric distortions in the camera imaging can sig…
SLC-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM
Yuhang Ming, Di Ma, Weichen Dai +4
Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC-SLAM. We argue that latent codes st…