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Author

Dong-Uk Seo

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Preprint Oct 2026

2DGS-Planner: Rasterization-based Path Planning in 2D Gaussian Splatting Map

Gaussian splatting provides an explicit and efficiently rasterizable scene representation for robot navigation. However, individual Gaussian primitives may not reliably represent obstacles as they are jointly optimized through alpha-composited rendering from a finite set of reconstruction views. We propose 2DGS-Planner...

Jiwon Park, Dong-Uk Seo, Hyun Myung · 0 citations
Preprint Sep 2026

Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points

Accurate initialization is essential for reliable visual-inertial odometry (VIO), but it is often ill-conditioned under degenerate motions. Existing methods typically require restrictive excitation motions to ensure sufficient observability or rely on computationally expensive 3D structure reconstruction, limiting effi...

Jun-Wan Choi, Woongrae Jo, Dong-Uk Seo et al. · 0 citations

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