Ψ-Map combines plane-constrained Gaussian surfels from LiDAR with end-to-end panoptic lifting to deliver high-precision geometric and semantic reconstruction in large-scale environments at real-time speeds.
Contrastive lift: 3d object instance segmentation by slow-fast con- trastive fusion,
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{\Psi}-Map: Panoptic Surface Integrated Mapping Enables Real2Sim Transfer
Ψ-Map combines plane-constrained Gaussian surfels from LiDAR with end-to-end panoptic lifting to deliver high-precision geometric and semantic reconstruction in large-scale environments at real-time speeds.