Author

Xi-Hang Yu

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Preprint Sep 2026

Matisse: Evidence-Space Reasoning for Active 3D Reconstruction

How can a 3D reconstruction system acquire and retain useful information to understand the geometry of a scene from partial views under a limited computation budget? Existing active view acquisition methods typically estimate uncertainty over observed or instantiated geometry, limiting their ability to reason about uns...

Xi-Hang Yu, Kai-Chen Zhou, Lorenzo Shaikewitz 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