Related papers: A generalized parametric 3D shape representation f…
We introduce Gaussian Articulated Template Model GART, an explicit, efficient, and expressive representation for non-rigid articulated subject capturing and rendering from monocular videos. GART utilizes a mixture of moving 3D Gaussians to…
Articulated objects are common in the real world, yet modeling their structure and motion remains a challenging task for 3D reconstruction methods. In this work, we introduce Part$^{2}$GS, a novel framework for modeling articulated digital…
3D reconstruction of medical images is a key technology in medical image analysis and clinical diagnosis, providing structural visualization support for disease assessment and surgical planning. Traditional methods are computationally…
Abstract representations of 3D scenes play a crucial role in computer vision, enabling a wide range of applications such as mapping, localization, surface reconstruction, and even advanced tasks like SLAM and rendering. Among these…
While 3D Gaussian representations (3DGS) have proven effective for modeling the geometry and appearance of objects, their potential for capturing other physical attributes-such as sound-remains largely unexplored. In this paper, we present…
Reasoning about the pose, i.e. position and orientation of objects is one of the cornerstones of robotic manipulation under uncertainty. In a number of joint research projects our group is developing a robotic perception system that…
Differentiable rendering techniques have recently shown promising results for free-viewpoint video synthesis of characters. However, such methods, either Gaussian Splatting or neural implicit rendering, typically necessitate per-subject…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian…
Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…
3D Gaussian Splatting (3DGS) is a recent approach for scene rendering. Although primarily designed for view synthesis, its potential for scene understanding tasks remains underexplored. In this work, we conduct a comparative evaluation of…
Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…
Recovering physical properties of objects in motion is a core task across scientific and industrial applications. When the relative motion between the object and the sensing apparatus provides sufficient angular coverage, Computerized…
Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Skins wrapping around our bodies, leathers covering over the sofa, sheet metal coating the car - it suggests that objects are enclosed by a series of continuous surfaces, which provides us with informative geometry prior for objectness…
Learning to manipulate dynamic and deformable objects from a single demonstration video holds great promise in terms of scalability. Previous approaches have predominantly focused on either replaying object relationships or actor…
3D Shape represented as point cloud has achieve advancements in multimodal pre-training to align image and language descriptions, which is curial to object identification, classification, and retrieval. However, the discrete representations…
2D Gaussian Splatting has emerged as a novel image representation technique that can support efficient rendering on low-end devices. However, scaling to high-resolution images requires optimizing and storing millions of unstructured…
Generating a coherent 3D scene representation from multi-view images is a fundamental yet challenging task. Existing methods often struggle with multi-view fusion, leading to fragmented 3D representations and sub-optimal performance. To…