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Author

Jiarui Hu

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Preprint Oct 2026

FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement

Floorplans provide compact and widely available geometric maps for indoor localization, but existing high-performing floorplan-based methods still convert them into dense scene-specific offline databases, tying accuracy, storage, and runtime to the sampling resolution of the discretized pose space. We present FreeLoc,...

Hao-Cheng Peng, Bo-Yang Zhou, Jia-Rui Hu et al. · 0 citations
Preprint Jul 2026

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

An Adaptive Gated Dual-Stream Contextual GAT that separates dense geometric features and semantic CLIP embeddings, performs edge-guided message passing, and adaptively fuses complementary semantics is introduced that separates dense geometric features and semantic CLIP embeddings, and adaptively fuses complementary sem...

Xianhao Chen, Jiarui Hu, Yuanbo Yang et al. · 0 citations

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