The paper presents a framework that builds a static point cloud prior map from past camera traversals, augmenting each point with DINOv3 semantic features. During runtime, a local prior patch is retrieved, encoded with a sparse voxel backbone, and fused with lifted multi‑view camera features in bird’s‑eye view. This fused representation is then used by sparse transformer heads to predict 3D objects and vectorized map elements, achieving improved performance on Argoverse 2 without requiring LiDAR for prior‑map construction or online inference.
By Markus K\"appeler, Rohit Mohan, Abhinav Valada
Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the generation of high-fidelity, semantically coherent object models. To address this trade-off, we present DSP-SLAM++, which extends the DSP-SLAM framework with an asynchronous mapping pipeline for real-time performance and dedicated sensor fusion adaptations for a monocular fisheye-LiDAR suite.
arXiv:2609.07738v1 Announce Type: cross
Abstract: LiDAR-based 3D Single Object Tracking (3D SOT) is critical for robotic perception and navigation and aims to localize dynamic objects across frames i...
By Zhaofeng Hu, Sifan Zhou, Jiahao Nie, Ziyu Zhao, Weizi Li, Ci-jyun Liang
Embodied tasks demand accurate, flexible, and semantically rich 3D scene representations. 3D semantic occupancy is well suited to this requirement, as it can model holistic 3D spaces by encoding geome...
arXiv:2602. 19349v2 Announce Type: replace-cross Abstract: LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode.
By Rohit Mohan, Florian Drews, Yakov Miron, Daniele Cattaneo, Abhinav Valada
M3GD introduces a multimodal representation that fuses pre‑trained 2D image and 3D LiDAR foundation models for robotic novel view synthesis, avoiding the need for a separate cross‑modal translator. By projecting LiDAR onto the image latent grid and injecting the resulting geometry‑aware packets via a lightweight residual adapter, the method enhances both RGB and depth synthesis on the GrandTour dataset compared to an image‑only baseline. Ablation studies confirm that pixel‑aligned LiDAR content drives the performance gains, and real‑world deployment on a ground robot demonstrates a tunable quality–cost trade‑off.
By Yang Zhou, Jiuhong Xiao, Shizhao Ye, Long Quang, Carlos Nieto-Granda, Giuseppe Loianno