8 papers
Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges
Shaunak Kolhe, Peng Jiang, Maggie Wigness +4
Radar offers unique advantages for localization in unstructured environments, including robustness to weather, lighting, and airborne particulates. While most prior work has studie…
Stylos: Multi-View 3D Stylization with Single-Forward Gaussian Splatting
Hanzhou Liu, Jia Huang, Mi Lu +2
We present Stylos, a single-forward 3D Gaussian framework for 3D style transfer that operates on unposed content, from a single image to a multi-view collection, conditioned on a s…
GO: The Great Outdoors Multimodal Dataset
Peng Jiang, Kasi Viswanath, Akhil Nagariya +8
The Great Outdoors (GO) dataset is a multi-modal annotated data resource aimed at advancing ground robotics research in unstructured environments. Existing off-road datasets often…
3DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalization
Peng Jiang, Gaurav Pandey, Srikanth Saripalli
This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate…
Reflectivity Is All You Need!: Advancing LiDAR Semantic Segmentation
Kasi Viswanath, Peng Jiang, Srikanth Saripalli
LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear bounda…
Off-Road LiDAR Intensity Based Semantic Segmentation
Kasi Viswanath, Peng Jiang, Sujit PB +1
LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path plann…