STEMbot climbs 7–33 mm stems with geometric PIN-SLAM, semantic OcTree mapping, and manifold-constrained A* planning, achieving sub-centimeter reconstructions and autonomous navigation on four plants.
Direct sparse odometry,
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GeoGS-SLAM removes appearance parameters from 3D Gaussian Splatting for geometry-only dense monocular SLAM, achieving faster convergence and fewer primitives while introducing a coherent Sim(3) map update for loop closure.
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STEMbot: A Compliant Robot for Under-Canopy Plant Navigation
STEMbot climbs 7–33 mm stems with geometric PIN-SLAM, semantic OcTree mapping, and manifold-constrained A* planning, achieving sub-centimeter reconstructions and autonomous navigation on four plants.
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GeoGS-SLAM: Geometry-Only Gaussian Splatting for Dense Monocular SLAM
GeoGS-SLAM removes appearance parameters from 3D Gaussian Splatting for geometry-only dense monocular SLAM, achieving faster convergence and fewer primitives while introducing a coherent Sim(3) map update for loop closure.