Related papers: G-EDF-Loc: 3D Continuous Gaussian Distance Field f…
We propose a novel fast and robust 3D point clouds segmentation framework via coupled feature selection, named 3DCFS, that jointly performs semantic and instance segmentation. Inspired by the human scene perception process, we design a…
Modern datasets often contain high-dimensional features exhibiting complex dependencies. To effectively analyze such data, dimensionality reduction methods rely on estimating the dataset's intrinsic dimension (id) as a measure of its…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Standard 3D reconstruction pipelines assume stationary world, therefore suffer from `ghost artifacts' whenever dynamic objects are present in the scene. Recent approaches has started tackling this issue, however, they typically either only…
Photorealistic reconstruction of street scenes is essential for developing real-world simulators in autonomous driving. While recent methods based on 3D/4D Gaussian Splatting (GS) have demonstrated promising results, they still encounter…
In this paper, we study the problem of continuous 3D shape representations. The majority of existing successful methods are coordinate-based implicit neural representations. However, they are inefficient to render novel views or recover…
Accurate online transient stability prediction is critical for ensuring power system stability when facing disturbances. While traditional transient stablity analysis replies on the time domain simulations can not be quickly adapted to the…
3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) have advanced novel-view synthesis. Recent methods extend multi-view 2D segmentation to 3D, enabling instance/semantic segmentation for better scene understanding. A key…
Ultra-wideband (UWB) indoor localization provides centimeter-level accuracy and low latency, but its measurement reliability degrades severely under Non-Line-of-Sight (NLOS) conditions, leading to meter-scale ranging errors and inconsistent…
The emergence of 6G networks enables simultaneous near-field and far-field communications through extremely large antenna arrays and high carrier frequencies. While these regimes enhance spatial multiplexing and link capacity, their…
Recently, 3D Gaussian splatting (3D-GS) has gained popularity in novel-view scene synthesis. It addresses the challenges of lengthy training times and slow rendering speeds associated with Neural Radiance Fields (NeRFs). Through rapid,…
Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target in the first loop of the trajectory to collect data points…
This paper introduces a novel framework for high-accuracy outdoor user equipment (UE) positioning that applies a conditional generative diffusion model directly to high-dimensional massive MIMO channel state information (CSI). Traditional…
This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR…
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…
High fidelity representation of shapes with arbitrary topology is an important problem for a variety of vision and graphics applications. Owing to their limited resolution, classical discrete shape representations using point clouds, voxels…
Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile under signal blockage, multipath, and drift. This paper…
We present a novel, end-to-end approach to align CAD models to an 3D scan of a scene, enabling transformation of a noisy, incomplete 3D scan to a compact, CAD reconstruction with clean, complete object geometry. Our main contribution lies…
We propose a new method to obtain landmark-matching transformations between n-dimensional Euclidean spaces with large deformations. Given a set of feature correspondences, our algorithm searches for an optimal folding-free mapping that…