5 papers
Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
Xiaolei Lang, Laijian Li, Chenming Wu +5
In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM syst…
Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM
Xiaolei Lang, Jiajun Lv, Kai Tang +5
This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time p…
L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model
Ruoyu Wang, Yukai Ma, Yi Yao +5
Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data…
Monocular Event-Inertial Odometry with Adaptive decay-based Time Surface and Polarity-aware Tracking
Kai Tang, Xiaolei Lang, Yukai Ma +4
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper pro…
LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Camera
Yukai Ma, Jianbiao Mei, Xuemeng Yang +6
Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy…