Minseong Park

Minseong Park, Suhan Woo, Euntai Kim

Learning efficient representations of local features is a key challenge in feature volume-based 3D neural mapping, especially in large-scale environments. In this paper, we introduce Decomposition-based Neural Mapping (DNMap), a storage-efficient large-scale 3D mapping method that employs a discrete representation based on a decomposition strategy. This decomposition strategy aims to efficiently capture repetitive and representative patterns of shapes by decomposing each discrete embedding into component vectors that are shared across the embedding space. Our DNMap optimizes a set of component vectors, rather than entire discrete embeddings, and learns composition rather than indexing the discrete embeddings. Furthermore, to complement the mapping quality, we additionally learn low-resolution continuous embeddings that require tiny storage space. By combining these representations with a shallow neural network and an efficient octree-based feature volume, our DNMap successfully approximates signed distance functions and compresses the feature volume while preserving mapping quality. Our source code is available at https://github.com/minseong-p/dnmap.

Adam L. Gross, Sangheon Oh, Minseong Park et al.

A programmable linear resistor with a compact footprint would have profound implications for microelectronics, enabling efficient in-sensor analog signal processing and in-memory computing. Non-volatile memory offers a potential solution but suffers from limitations due to the programming mechanisms that confine switching to nanoscale constrictions or field-sensitive semiconductor junctions, leading to non-linear current-voltage relationships and errors. Here, we introduce a tunable resistor that is programmed into non-volatile, high-precision resistance states spanning nine orders of magnitude, with linear current-voltage characteristics across the entire range -- significantly improving the performance and widening the application space of resistive memory. A key advance is an electrothermal gate that simultaneously spreads heat and electrochemical reactions during programming to enable large, bulk composition modulation. The volumetric modulation can host thousands of linear resistance states with 100x lower conductance errors than other memory. This enables direct processing of analog signals with high fidelity, and we demonstrate variable-gain amplification, division, and multiplication. Integration with CMOS is used to show resilience to electrical and thermal disturb in arrays and to demonstrate retention of analog levels at <1% average loss for more than 2 months across 100 devices. Simulations indicate matrix multiplication efficiency could approach >1,000 TOPS/W.

Jaewon Lee, Mangyu Kong, Minseong Park et al.

Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing 3DGS methods often struggle to accurately reconstruct a 3D map that reflects the actual scale and geometry of the real world, which degrades localization performance. To address these limitations, we propose a novel 3DGS method called Geometry-Aware Gaussian Splatting (GeomGS). This method fully integrates LiDAR data into 3D Gaussian primitives via a probabilistic approach, as opposed to approaches that only use LiDAR as initial points or introduce simple constraints for Gaussian points. To this end, we introduce a Geometric Confidence Score (GCS), which identifies the structural reliability of each Gaussian point. The GCS is optimized simultaneously with Gaussians under probabilistic distance constraints to construct a precise structure. Furthermore, we propose a novel localization method that fully utilizes both the geometric and photometric properties of GeomGS. Our GeomGS demonstrates state-of-the-art geometric and localization performance across several benchmarks, while also improving photometric performance.