3 papers
cs.RO2026
Semantic Semi-Incremental Data-Association-Free Object SLAM
Yihao Zhang, Jungseok Hong, John J. Leonard
Data association between landmark measurements and landmark variables has long been a central challenge in SLAM, as estimation accuracy depends critically on associating measuremen…
cs.RO2026
ReefMapGS: Enabling Large-Scale Underwater Reconstruction by Closing the Loop Between Multimodal SLAM and Gaussian Splatting
Daniel Yang, Jungseok Hong, John J. Leonard +1
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typi…
cs.RO2024
Semantic Enhancement for Object SLAM with Heterogeneous Multimodal Large Language Model Agents
Jungseok Hong, Ran Choi, John J. Leonard
Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environm…