5 accepted papers
Collision avoidance is essential for robotic systems. This paper presents a method for designing directional projection control barrier functions (CBFs) based on differentiable optimization for second-order robotic systems. The approach reduces high-order CBFs to first-order ones and estimates colli…
Recent 3D Gaussian Splatting (3DGS) techniques for visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to dynamic objects limit real-time performance and robustness i…
The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sensitivity to artifacts and noise, suboptimal selection of training viewpoints, and the absence of global optimization. In
Rejecting outliers before applying classical robust methods is a common approach to increase the success rate of estimation, particularly when the outlier ratio is extremely high (e.g. 90%). However, this method often relies on sensor- or task-specific characteristics, which may not be easily transf