HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes

Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet online requirements. 3D Gaussian Splatting (3DGS), with its rendering speed hundreds of times faster than NeRF, holds greater potential in online dense mapping. However, integrating 3DGS into a street-view dense mapping framework still faces two challenges, including incomplete reconstruction due to the absence of geometric information beyond the LiDAR coverage area and extensive computation for reconstruction in large urban scenes. To this end, we propose HGS-Mapping, an online dense mapping framework in unbounded large-scale scenes. To attain complete construction, our framework introduces Hybrid Gaussian Representation, which models different parts of the entire scene using Gaussians with distinct properties. Furthermore, we employ a hybrid Gaussian initialization mechanism and an adaptive update method to achieve high-fidelity and rapid reconstruction. To the best of our knowledge, we are the first to integrate Gaussian representation into online dense mapping of urban scenes. Our approach achieves SOTA reconstruction accuracy while only employing 66% number of Gaussians, leading to 20% faster reconstruction speed.

Sequential Sentence Matching Network for Multi-turn Response Selection in Retrieval-based Chatbots

Recently, open domain multi-turn chatbots have attracted much interest from lots of researchers in both academia and industry. The dominant retrieval-based methods use context-response matching mechanisms for multi-turn response selection. Specifically, the state-of-the-art methods perform the context-response matching by word or segment similarity. However, these models lack a full exploitation of the sentence-level semantic information, and make simple mistakes that humans can easily avoid. In this work, we propose a matching network, called sequential sentence matching network (S2M), to use the sentence-level semantic information to address the problem. Firstly and most importantly, we find that by using the sentence-level semantic information, the network successfully addresses the problem and gets a significant improvement on matching, resulting in a state-of-the-art performance. Furthermore, we integrate the sentence matching we introduced here and the usual word similarity matching reported in the current literature, to match at different semantic levels. Experiments on three public data sets show that such integration further improves the model performance.