2025.04.30 - #33 - Qwen3, LiteGS, GenZ-ICP improved, MambaGlue, OpenLiDARMap

[changh95]

Interesting papers

Qwen3

LiteGS

• https://github.com/MooreThreads/LiteGS
• 모듈러한 설계로 리팩토링한 Gaussian Splatting
• 기존 코드에 비해 3.5배 빠름!!

GenZ ICP

• https://github.com/ali-pahlevani/GenZ_ICP_Optimized
• Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
• CPU 사용량을 줄이고, 전체 속도의 20-50% 속도 개선

MambaGlue

• Fast and Robust Local Feature Matching With Mamba
• MambaAttention + Deep score regressor
• https://github.com/url-kaist/MambaGlue

OpenLiDARMap

• Zero-Drift Point Cloud Mapping using Map Priors
• reference maps (e.g., using 2000–2023 aerial data for 2011 sequences)
• scan-to-scan and scan-to-map ICP matching using robust kernels (Tukey & Cauchy) for drift mitigation

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