5 papers
LiDAR Teach, Radar Repeat: Robust Cross-Modal Navigation in Degenerate and Varying Environments
Renxiang Xiao, Yichen Chen, Yuanfan Zhang +5
Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offer…
AppleVLM: End-to-end Autonomous Driving with Advanced Perception and Planning-Enhanced Vision-Language Models
Yuxuan Han, Kunyuan Wu, Qianyi Shao +6
End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Languag…
VLM-Augmented Degradation Modeling for Image Restoration Under Adverse Weather Conditions
Qianyi Shao, Yuanfan Zhang, Renxiang Xiao +1
Reliable visual perception under adverse weather conditions, such as rain, haze, snow, or a mixture of them, is desirable yet challenging for autonomous driving and outdoor robots.…
Rad-GS: Radar-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments
Renxiang Xiao, Wei Liu, Yuanfan Zhang +4
We present Rad-GS, a 4D radar-camera SLAM system designed for kilometer-scale outdoor environments, utilizing 3D Gaussian as a differentiable spatial representation. Rad-GS combine…
LiV-GS: LiDAR-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments
Renxiang Xiao, Wei Liu, Yushuai Chen +1
We present LiV-GS, a LiDAR-visual SLAM system in outdoor environments that leverages 3D Gaussian as a differentiable spatial representation. Notably, LiV-GS is the first method tha…