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cs.RO2024
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation
Yu Sheng, Runfeng Lin, Lidian Wang +5
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to…
cs.RO2024★ 1 cited
Rendering-Enhanced Automatic Image-to-Point Cloud Registration for Roadside Scenes
Yu Sheng, Lu Zhang, Xingchen Li +4
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. H…
cs.RO2024★ 1 cited
MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
Chenyang Wu, Yifan Duan, Xinran Zhang +3
Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular compl…