4 accepted papers
We present GaussFusion, a novel approach for improving 3D Gaussian splatting (3DGS) reconstructions in the wild through geometry-informed video generation. GaussFusion mitigates common 3DGS artifacts, including floaters, flickering, and blur caused by camera pose errors, incomplete coverage, and noi
We present LASER, an image-based Monte Carlo Localization (MCL) framework for 2D floor maps. LASER introduces the concept of latent space rendering, where 2D pose hypotheses on the floor map are directly rendered into a geometrically-structured latent space by aggregating viewing ray features. Throu…
"We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely located 360 deg. panoramas, whose semantic features (windows, doors, and openings) are inferred and used to hypothesize pa…
A robot understands its world through the raw information it senses from its surroundings. This raw information is not suitable as a shared representation between the robot and its user. A semantic map, containing high-level information that both the robot and user understand, is better suited to be…