Yanan Hao

AING-SLAM: Accurate Implicit Neural Geometry-Aware SLAM With Appearance and Semantics via History-Guided Optimization

In range-based SLAM systems, localization accuracy depends on the quality of geometric maps. Sparse LiDAR scans and noisy depth from RGB-D sensors often yield incomplete or inaccurate reconstructions that degrade pose estimation. Appearance and semantic cues, readily available from onboard RGB and p