相关论文: 3D map creation using crowdsourced GNSS data
We present Rad-GS, a 4D radar-camera SLAM system designed for kilometer-scale outdoor environments, utilizing 3D Gaussian as a differentiable spatial representation. Rad-GS combines the advantages of raw radar point cloud with Doppler…
3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…
3D Gaussian Splatting (3DGS) has shown its ability in rapid rendering and high-fidelity mapping. In this paper, we introduce LVI-GS, a tightly-coupled LiDAR-Visual-Inertial mapping framework with 3DGS, which leverages the complementary…
Heterogeneous collections of ground and airborne imagery can readily be used to create high-quality 3D models and novel viewpoint renderings of the observed scene. Standard photogrammetry pipelines generate models in arbitrary coordinate…
We present LOOM (Line-Ordering Optimized Maps), a fully automatic generator of geographically accurate transit maps. The input to LOOM is data about the lines of a given transit network, namely for each line, the sequence of stations it…
Estimates of road grade/slope can add another dimension of information to existing 2D digital road maps. Integration of road grade information will widen the scope of digital map's applications, which is primarily used for navigation, by…
3D Gaussian Splatting (3DGS) has emerged as a novel explicit representation for 3D scenes, offering both high-fidelity reconstruction and efficient rendering. However, 3DGS lacks 3D segmentation ability, which limits its applicability in…
Radio map construction requires a large amount of radio measurement data with location labels, which imposes a high deployment cost. This paper develops a region-based radio map from received signal strength (RSS) measurements without…
Depth maps are widely used in feed-forward 3D Gaussian Splatting (3DGS) pipelines by unprojecting them into 3D point clouds for novel view synthesis. This approach offers advantages such as efficient training, the use of known camera poses,…
With the development of cheap image sensors, the amount of available image data have increased enormously, and the possibility of using crowdsourced collection methods has emerged. This calls for development of ways to handle all these…
This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…
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…
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…
Navigating large-scale outdoor environments requires complex reasoning in terms of geometric structures, environmental semantics, and terrain characteristics, which are typically captured by onboard sensors such as LiDAR and cameras. While…
The advancement of advanced air mobility (AAM) in recent years has given rise to the concept of low-altitude economy (LAE). However, the diverse flight activities associated with the emerging LAE applications in urban scenarios confront…
Building a site-specific propagation model typically requires either ray-tracing over detailed 3D maps or dense measurement campaigns. Both approaches are expensive and often infeasible for rapid deployments where geographic data is…
High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Linkage maps are used to identify the location of genes responsible for traits and diseases. New sequencing techniques have created opportunities to substantially increase the density of genetic markers. Such revolutionary advances in…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…