9 papers
HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM
Nam Tran, Thu Tran, Hieu Phan +4
Achieving robustness, accuracy, and efficiency simultaneously remains a central challenge in light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM). While…
Geometry-Aware Online Mapping for 3D Gaussian Splatting SLAM
Thai Luu, Quan Tran, Hieu Phan +1
Recent 3D Gaussian Splatting (3DGS) has enabled efficient photorealistic view synthesis and is rapidly being adopted in simultaneous localization and mapping (SLAM) systems for onl…
A Contrastive Fewshot RGBD Traversability Segmentation Framework for Indoor Robotic Navigation
Qiyuan An, Tuan Dang, Fillia Makedon
Indoor traversability segmentation aims to identify safe, navigable free space for autonomous agents, which is critical for robotic navigation. Pure vision-based models often fail…
T2Nav Algebraic Topology Aware Temporal Graph Memory and Loop Detection for ZeroShot Visual Navigation
Quang-Anh N. D., Duc Pham, Minh-Anh Nguyen +2
Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditi…
TriaGS: Differentiable Triangulation-Guided Geometric Consistency for 3D Gaussian Splatting
Quan Tran, Tuan Dang
3D Gaussian Splatting is crucial for real-time novel view synthesis due to its efficiency and ability to render photorealistic images. However, building a 3D Gaussian is guided sol…
Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation
Tuan Dang, Manfred Huber
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models…