Author

Shenghai Yuan

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Preprint Sep 2026

Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering

Recent 3D foundation models enable generalizable geometric reasoning from RGB images but remain limited in persistent memory, scalability, and renderable scene modeling. We present a memory-centric 3D foundation model for scalable robotic localization, reconstruction, and Gaussian rendering. Its core is an adaptive wor...

Tianchen Deng, Guo-Le Shen, Yi-Lin Shen et al. · 0 citations

Mar 2024

Voxelized 3D Gaussian Representation for Dense Visual SLAM on Embedded Vision System

A voxelized compact 3D Gaussian representation for SLAM system that reduces the number and the parameter size of Gaussian ellipsoids is proposed, and a novel residual codebook-based quantization method is proposed to further compress 3D Gaussian attributes.

Tianchen Deng, Chang Nie, Shu-Hong Liu et al. · International Journal of Com... · 40 citations · ⚡1

Jul 2026

Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift

A minimal-learning stereo VIO framework in which SEA-RAFT is used only to propose dense stereo correspondences and predict their uncertainty, while temporal tracking, geometric verification, and state estimation remain explicit is proposed.

Yangyang Ning, Shuao Liang, Q. Ge et al. · arXiv.org · 0 citations