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cs.RO2025
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
cs.RO2024
Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting
Joey Wilson, Marcelino Almeida, Min Sun +6
In this paper, we present a novel algorithm for probabilistically updating and rasterizing semantic maps within 3D Gaussian Splatting (3D-GS). Although previous methods have introd…
cs.RO2023
ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty
Joey Wilson, Yuewei Fu, Joshua Friesen +5
In this paper, we develop a modular neural network for real-time {\color{black}(> 10 Hz)} semantic mapping in uncertain environments, which explicitly updates per-voxel probabilist…