Related papers: Efficient Incremental SLAM via Information-Guided …
Fast covariance calculation is required both for SLAM (e.g.~in order to solve data association) and for evaluating the information-theoretic term for different candidate actions in belief space planning (BSP). In this paper we make two…
By taking the idea of divide-and-conquer, cooperative coevolution (CC) provides a powerful architecture for large scale global optimization (LSGO) problems, but its efficiency relies highly on the decomposition strategy. It has been shown…
Gaussian splatting (GS) struggles with degraded rendering quality on low-cost devices. To address this issue, we present edge collaborative GS (ECO-GS), where each user can switch between a local small GS model to guarantee timeliness and a…
We focus on the problem of minimizing the sum of smooth component functions (where the sum is strongly convex) and a non-smooth convex function, which arises in regularized empirical risk minimization in machine learning and distributed…
Composite optimization problems, where a smooth loss is combined with a nonsmooth regularizer, are common in machine learning and inverse problems. In this work, we study a proximal extension of NAG-GS, a semi-implicit accelerated method…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
Prompt engineering is pivotal for harnessing the capabilities of large language models (LLMs) across diverse applications. While existing prompt optimization methods improve prompt effectiveness, they often lead to prompt drifting, where…
While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…
Optimizing Large Language Model (LLM) performance requires well-crafted prompts, but manual prompt engineering is labor-intensive and often ineffective. Automated prompt optimization techniques address this challenge but the majority of…
Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…
In this paper, we present a novel algorithm for quantifying uncertainty and information gained within 3D Gaussian Splatting (3D-GS) through P-Optimality. While 3D-GS has proven to be a useful world model with high-quality rasterizations, it…
Well-designed prompts are crucial for enhancing Large language models' (LLMs) reasoning capabilities while aligning their outputs with task requirements across diverse domains. However, manually designed prompts require expertise and…
We introduce RGS-SLAM, a robust Gaussian-splatting SLAM framework that replaces the residual-driven densification stage of GS-SLAM with a training-free correspondence-to-Gaussian initialization. Instead of progressively adding Gaussians as…
Real-time SLAM with dense 3D mapping is computationally challenging, especially on resource-limited devices. The recent development of 3D Gaussian Splatting (3DGS) offers a promising approach for real-time dense 3D reconstruction. However,…
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…
In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves…
We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…
The predict-then-optimize (PTO) framework is indispensable for addressing practical stochastic decision-making tasks. It consists of two crucial steps: initially predicting unknown parameters of an optimization model and subsequently…
Mobile robots and IoT devices demand real-time localization and dense reconstruction under tight compute and energy budgets. While 3D Gaussian Splatting (3DGS) enables efficient dense SLAM, dynamic objects and occlusions still degrade…
Recent advancements in photo-realistic novel view synthesis have been significantly driven by Gaussian Splatting (3DGS). Nevertheless, the explicit nature of 3DGS data entails considerable storage requirements, highlighting a pressing need…