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cs.RO2026
3DGSNav: Enhancing Vision-Language Model Reasoning for Object Navigation via Active 3D Gaussian Splatting
Wancai Zheng, Hao Chen, Xianlong Lu +2
Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs…
cs.RO2025
UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environments
Wancai Zheng, Linlin Ou, Jiajie He +3
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However,…
cs.RO2024
GSORB-SLAM: Gaussian Splatting SLAM benefits from ORB features and Transmittance information
Wancai Zheng, Xinyi Yu, Jintao Rong +3
The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sen…