Author

Simon Schaefer

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Preprint Aug 2026

SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception

Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches based on 2D image enhancement lack reliable supervision and fail to preserve multi-view geometric consistency. To address these limitations, we...

Liang Hong, Jia-Xin Wei, Simon Schaefer et al. · 0 citations

Preprint Aug 2026

Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM

Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to understand the environment with a minimum setup, however, it inherently suffers from scale ambiguity. A common solution is to provide multi-modal...

Sebastián Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis et al. · 0 citations