Publications

2026

1. ECCV

   Beyond Isolated Objects: Relationship-aware Open-Vocabulary 3D Scene Understanding via 3D Scene Graph Analysis

   Xianhao Chen^*, Jiarui Hu^*, Yuanbo Yang, Xiyu Zhang, Tengyue Wang, Hujun Bao, Guofeng Zhang, and Zhaopeng Cui^†

   In Proc. of the European Conf. on Computer Vision (ECCV), 2026

   PDF Video Project page

2024

1. ECCV

   

   CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field

   Jiarui Hu^*, Xianhao Chen^*, Boyin Feng, Guanglin Li, Liangjing Yang, Hujun Bao, Guofeng Zhang, and Zhaopeng Cui^†

   In Proc. of the European Conf. on Computer Vision (ECCV), Jul 2024

   Abstract PDF Code Project page

   This paper presents an efficient dense RGB-D SLAM system, i.e., CG-SLAM, based on a novel uncertainty-aware 3D Gaussian field with high consistency and geometric stability. Through an in-depth analysis of Gaussian Splatting, we propose several techniques to construct a consistent and stable 3D Gaussian field suitable for tracking and mapping. Additionally, a novel depth uncertainty model is proposed to ensure the selection of valuable Gaussian primitives during optimization, thereby improving tracking efficiency and accuracy. Experiments on various datasets demonstrate that CG-SLAM achieves superior tracking and mapping performance with a notable tracking speed of up to 15 Hz.

2. ICRCA

   

   SamSLAM: A Visual SLAM Based on the Segment Anything Model for Dynamic Environments

   Xianhao Chen, Tengyue Wang, Haonan Mai, and Liangjing Yang^†

   In The International Conference on Robotics, Control and Automation (ICRCA), Jan 2024