Related papers: GSMap: 2D Gaussians for Online HD Mapping
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…
3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…
Recently, effective coordination in embodied multi-agent systems has remained a fundamental challenge, particularly in scenarios where agents must balance individual perspectives with global environmental awareness. Existing approaches…
Today's software stacks for autonomous vehicles rely on HD maps to enable sufficient localization, accurate path planning, and reliable motion prediction. Recent developments have resulted in pipelines for the automated generation of HD…
Heterogeneous graphs offer powerful data representations for traffic, given their ability to model the complex interaction effects among a varying number of traffic participants and the underlying road infrastructure. With the recent advent…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
Simulation is essential for autonomous driving, yet current frameworks often model vehicles as rigid assets and fail to capture part-level articulation. With perception algorithms increasingly leveraging dynamics such as wheel steering or…
4D automotive radars have gained increasing attention for autonomous driving due to their low cost, robustness, and inherent velocity measurement capability. However, existing 4D radar-based 3D detectors rely heavily on pillar encoders for…
We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…
Geometry problem solving presents distinctive challenges in artificial intelligence, requiring exceptional multimodal comprehension and rigorous mathematical reasoning capabilities. Existing approaches typically fall into two categories:…
Recent advancements in 3D Gaussian Splatting (3DGS) have greatly influenced neural fields, as it enables high-fidelity rendering with impressive visual quality. However, 3DGS has difficulty accurately representing surfaces. In contrast,…
Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…
High-fidelity reconstruction of dynamic scenes is an important yet challenging problem. While recent 4D Gaussian Splatting (4DGS) has demonstrated the ability to model temporal dynamics, it couples Gaussian motion and geometric attributes…
Topological correctness plays a critical role in many image segmentation tasks, yet most networks are trained using pixel-wise loss functions, such as Dice, neglecting topological accuracy. Existing topology-aware methods often lack robust…
Realistic human geometry generation is an important yet challenging task, requiring both the preservation of fine clothing details and the accurate modeling of clothing-body interactions. To tackle this challenge, we build upon Geometry…
3D Gaussian splatting, emerging as a groundbreaking approach, has drawn increasing attention for its capabilities of high-fidelity reconstruction and real-time rendering. However, it couples the appearance and geometry of the scene within…
Significant progress has been made in low-light image enhancement with respect to visual quality. However, most existing methods primarily operate in the pixel domain or rely on implicit feature representations. As a result, the intrinsic…
Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…
In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…