CROSS replaces globally consistent metric maps with a pose-aware topological graph of RGB-D keyframes and maintains a bounded Gaussian-mixture belief over poses via sequential hypothesis testing in SE(3) to achieve change-robust spatial-semantic mapping and navigation.
Sgs- slam: Semantic gaussian splatting for neural dense slam
2 Pith papers cite this work. Polarity classification is still indexing.
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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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Change-Robust Online Spatial-Semantic Topological Mapping
CROSS replaces globally consistent metric maps with a pose-aware topological graph of RGB-D keyframes and maintains a bounded Gaussian-mixture belief over poses via sequential hypothesis testing in SE(3) to achieve change-robust spatial-semantic mapping and navigation.
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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.