相关论文: Gaussian Process Gradient Maps for Loop-Closure De…

Vision-language navigation (VLN) requires an agent to traverse complex 3D environments based on natural language instructions, necessitating a thorough scene understanding. While existing works equip agents with various scene…

Quantifying uncertainties in physical or engineering systems often requires a large number of simulations of the underlying computer models that are computationally intensive. Emulators or surrogate models are often used to accelerate the…

Gaussian Processes (GPs) offer an attractive method for regression over small, structured and correlated datasets. However, their deployment is hindered by computational costs and limited guidelines on how to apply GPs beyond simple…

In this paper, we explore an open research problem concerning the reconstruction of 3D scenes from images. Recent methods have adopt 3D Gaussian Splatting (3DGS) to produce 3D scenes due to its efficient training process. However, these…

This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…

While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation…

For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…

This letter presents a continuous probabilistic modeling methodology for spatial point cloud data using finite Gaussian Mixture Models (GMMs) where the number of components are adapted based on the scene complexity. Few hierarchical and…

We introduce a novel method for discerning optical telescope images of stars from those of galaxies using Gaussian processes (GPs). Although applications of GPs often struggle in high-dimensional data modalities such as optical image…

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…

Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…

Gaussian Process (GP) regression is shown to be effective for learning unknown dynamics, enabling efficient and safety-aware control strategies across diverse applications. However, existing GP-based model predictive control (GP-MPC)…

Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…

Visual SLAM has regained attention due to its ability to provide perceptual capabilities and simulation test data for Embodied AI. However, traditional SLAM methods struggle to meet the demands of high-quality scene reconstruction, and…

Currently, digital maps are indispensable for automated driving. However, due to the low precision and reliability of GNSS particularly in urban areas, fusing trajectories of independent recording sessions and different regions is a…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

Seamless integration of both aerial and street view images remains a significant challenge in neural scene reconstruction and rendering. Existing methods predominantly focus on single domain, limiting their applications in immersive…

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…

We present GP-4DGS, a novel framework that integrates Gaussian Processes (GPs) into 4D Gaussian Splatting (4DGS) for principled probabilistic modeling of dynamic scenes. While existing 4DGS methods focus on deterministic reconstruction,…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…