Related papers: Gaussian Splatting SLAM

Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…

Reconstructing dynamic 3D scenes from monocular video remains fundamentally challenging due to the need to jointly infer motion, structure, and appearance from limited observations. Existing dynamic scene reconstruction methods based on…

3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…

Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…

Gaussian splatting and single-view depth estimation are typically studied in isolation. In this paper, we present DepthSplat to connect Gaussian splatting and depth estimation and study their interactions. More specifically, we first…

3D Gaussian Splatting (3DGS) leverages densely distributed Gaussian primitives for high-quality scene representation and reconstruction. While existing 3DGS methods perform well in scenes with minor view variation, large view changes from…

Simultaneous Localization and Mapping (SLAM) is essential for precise surgical interventions and robotic tasks in minimally invasive procedures. While recent advancements in 3D Gaussian Splatting (3DGS) have improved SLAM with high-quality…

While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…

3D Gaussian Splatting is crucial for real-time novel view synthesis due to its efficiency and ability to render photorealistic images. However, building a 3D Gaussian is guided solely by photometric loss, which can result in inconsistencies…

3D reconstruction and relighting of objects made from scattering materials present a significant challenge due to the complex light transport beneath the surface. 3D Gaussian Splatting introduced high-quality novel view synthesis at…

3D Gaussian Splatting (3DGS) has recently emerged as a pioneering approach in explicit scene rendering and computer graphics. Unlike traditional neural radiance field (NeRF) methods, which typically rely on implicit, coordinate-based models…

3D Gaussian Splatting shows great potential in reconstructing photo-realistic 3D scenes. However, these methods typically bake illumination into their representations, limiting their use for physically-based rendering and scene editing.…

We present a novel method for 6-DoF object tracking and high-quality 3D reconstruction from monocular RGBD video. Existing methods, while achieving impressive results, often struggle with complex objects, particularly those exhibiting…

This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…

We introduce the Deformable Gaussian Splats Large Reconstruction Model (DGS-LRM), the first feed-forward method predicting deformable 3D Gaussian splats from a monocular posed video of any dynamic scene. Feed-forward scene reconstruction…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…

Gaussian splatting methods are emerging as a popular approach for converting multi-view image data into scene representations that allow view synthesis. In particular, there is interest in enabling view synthesis for dynamic scenes using…

Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent ability in small-scale 3D surface reconstruction. However, extending 3DGS to large-scale scenes remains a significant challenge. To address this gap, we propose a novel…

3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices…