4 papers
FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
Zeyu Jiang, Changqing Zhou, Xingxing Zuo +1
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for…
LST-SLAM: A Stereo Thermal SLAM System for Kilometer-Scale Dynamic Environments
Zeyu Jiang, Kuan Xu, Changhao Chen
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) rem…
GARF: Learning Generalizable 3D Reassembly for Real-World Fractures
Sihang Li, Zeyu Jiang, Grace Chen +9
3D reassembly is a challenging spatial intelligence task with broad applications across scientific domains. While large-scale synthetic datasets have fueled promising learning-base…
Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information
Kuan Xu, Zeyu Jiang, Haozhi Cao +3
Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation.…