arXiv Robotics — research abstracts· Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard·· 2 days agoEditorial score60
NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping
NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping
Summary
The paper presents NeuSE, a novel neural SE(3)-equivariant embedding for objects that supports object-based SLAM. It enables consistent spatial understanding in dynamic environments by encoding full shape, scale, and transform information. NeuSE is evaluated on synthetic and real-world sequences, demonstrating improved localization and change-aware mapping consistency.
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Source：arXiv Robotics — research abstracts · arxiv.org