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.
RT-GuIDE: Real- Time Gaussian splatting for Information-Driven Exploration
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SAGE integrates CLIP embeddings into FALCON via object storage, temporal projection cache, object frontiers, and a bounded semantic-geometric cost, yielding 9-26x faster object discovery than FTU in simulation and higher object counts than FALCON in five real flights.
Develops a game-theoretic estimator for true information gain in active perception that achieves sub-linear regret and shows average gains of 7% information gain and 42% error reduction across simulated and real robot experiments.
citing papers explorer
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Splatblox: Traversability-Aware Gaussian Splatting for Outdoor Robot Navigation
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.
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Semantic-Aware Guided Drone Exploration for Language-Conditioned 3D Indoor Mapping
SAGE integrates CLIP embeddings into FALCON via object storage, temporal projection cache, object frontiers, and a bounded semantic-geometric cost, yielding 9-26x faster object discovery than FTU in simulation and higher object counts than FALCON in five real flights.
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An Active Perception Game for Robust Exploration
Develops a game-theoretic estimator for true information gain in active perception that achieves sub-linear regret and shows average gains of 7% information gain and 42% error reduction across simulated and real robot experiments.