Author

Hieu Phan

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Preprint Aug 2026

HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM

HBP2-SLAM is presented, a minimalist yet robust LiDAR SLAM framework built around a neighborhood-size adaptive hybrid ICP that dynamically classifies correspondences based on local geometric structure and density, thereby enabling a principled balance between point-to-plane and point-to-point residuals.

N. Trần, T. Tran, Hieu Phan et al. · 0 citations

Preprint Aug 2026

Geometry-Aware Online Mapping for 3D Gaussian Splatting SLAM

This work revisits 3D Gaussian Splatting heuristics in a decoupled 3DGS-SLAM setting and proposes three geometry-aware methods that operate in the mapping thread: transmittance-preserving densification, camera-aware scale initialization from depth and intrinsics, and error-guided densification that focuses new primitiv...

Thai Luu, Quan Tran, Hieu Phan et al. · 0 citations