3 papers
cs.CV2025
Sparse3DPR: Training-Free 3D Hierarchical Scene Parsing and Task-Adaptive Subgraph Reasoning from Sparse RGB Views
Haida Feng, Hao Wei, Zewen Xu +3
Recently, large language models (LLMs) have been explored widely for 3D scene understanding. Among them, training-free approaches are gaining attention for their flexibility and ge…
cs.RO2025
Floorplan-SLAM: A Real-Time, High-Accuracy, and Long-Term Multi-Session Point-Plane SLAM for Efficient Floorplan Reconstruction
Haolin Wang, Zeren Lv, Hao Wei +2
Floorplan reconstruction provides structural priors essential for reliable indoor robot navigation and high-level scene understanding. However, existing approaches either require t…
cs.RO2024
DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization
Zewen Xu, Yijia He, Hao Wei +1
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural def…