Author

Ruihan Xu

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Preprint Oct 2026

Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection

Robots operating in dynamic environments require reliable detection of how their surroundings change over time. Existing learning-based methods largely rely on pairwise 2D image features, which struggle under large viewpoint changes and occlusions, are sensitive to noise, and show limited generalization across domains,...

Rui-Han Xu, Jia Yoon, Kai-Chen Zhou et al. · 0 citations

Jul 2026

Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation

To address the challenges of sparse and noisy depth measurements in outdoor environments, Hydra++ supports a hybrid LiDAR-camera configuration for large-scale operation, improving scene-level reconstruction quality and improves object- and scene-level reconstruction quality.

Hyungtae Lim, Nathan Hughes, Xi-Hang Yu et al. · arXiv.org · 0 citations