FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.
Gaussian-lic2: Lidar-inertial-camera gaussian splatting slam
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Splatblox creates a traversability-aware ESDF from RGB-LiDAR fusion via Gaussian Splatting, enabling semantic navigation that outperforms prior methods by over 50% success rate in vegetated field trials on quadruped and wheeled robots.
Ultra-Fusion presents a unified sliding-window estimator for multi-sensor fusion SLAM supporting WIO/VIO/LIO/LVIO with observability-aware initialization, factor-wise reliability scheduling, and online spatiotemporal calibration.
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FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.
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Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
Ultra-Fusion presents a unified sliding-window estimator for multi-sensor fusion SLAM supporting WIO/VIO/LIO/LVIO with observability-aware initialization, factor-wise reliability scheduling, and online spatiotemporal calibration.