7 papers · 1 filter
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…
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…
Volumetric Mapping with Panoptic Refinement via Kernel Density Estimation for Mobile Robots
Khang Nguyen, Tuan Dang, Manfred Huber
Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions an…