3 papers
cs.RO2026
SplatlessDF: Continuous Distance Field Mapping with Non-Splatting Gaussians
Monisha Mushtary Uttsha, Lan Wu, Teresa Vidal-Calleja
Recent Gaussian splatting (GS) methods have shown that scenes can be represented efficiently with optimisable Gaussians for high-quality reconstruction and rendering. In this paper…
cs.RO2025
Listen to Your Map: An Online Representation for Spatial Sonification
Lan Wu, Craig Jin, Monisha Mushtary Uttsha +1
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a ma…
cs.RO2024
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
Monisha Mushtary Uttsha, Cedric Le Gentil, Lan Wu +1
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which fa…