Zero-Drift Point Cloud Mapping using Map Priors

Dynamic 3D Gaussian Scene Graphs for Environment Adaptation

Open-source code for Paper: Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments

Codes for "Efficient Multi-Modal 3D Object Detector via Instance Level Contrastive Distillation"

4D Panoptic Scene Graph Generation (NeurIPS'23 Spotlight)

LuSeg: Efficient Negative and Positive Obstacles Segmentation via Contrast-Driven Multi-Modal Feature Fusion on the Lunar

BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model

Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding

Efficient Instance Motion-Aware Point Cloud Scene Prediction

Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM

[CVPR 2025] Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting

[CVPR2025] LightLoc: Learning Outdoor LiDAR Localization at Light Speed

SGT-LLC: LiDAR Loop Closing Based on Semantic Graph with Triangular Spatial Topology

[ICRA 2025] ELite: Ephemerality meets LiDAR-based Lifelong Mapping

Header-Only C++ Library for Graph Representation and Algorithms

Heterogeneous LiDAR Place Recognition

KISS-Matcher: Fast, Robust, and Scalable Registration for All Point Clouds

A script toolkit for SLAM research, including but not limited to various plotting functions, ROS bag processing, and more.

PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map

BEV-LSLAM: A Novel and Compact BEV LiDAR SLAM for Outdoor Environment

Semantic DSP Map in paper "Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments"