3 papers
cs.RO2025
Gaussian Semantic Field for One-shot LiDAR Global Localization
Pengyu Yin, Shenghai Yuan, Haozhi Cao +4
We present a one-shot LiDAR global localization algorithm featuring semantic disambiguation ability based on a lightweight tri-layered scene graph. While landmark semantic registra…
cs.RO2025
EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events
Siyu Chen, Shenghai Yuan, Thien-Minh Nguyen +4
Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle…
cs.RO2025
Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process
Shenghai Yuan, Boyang Lou, Thien-Minh Nguyen +7
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seap…