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We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual environments, as rendering through a medium such as water…

3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for high-quality rendering across a wide range of applications.However, its high computational demands and large storage costs pose significant challenges for deployment…

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…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…

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…

UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…

3D Gaussian Splatting (3DGS) has enabled the creation of highly realistic 3D scene representations from sets of multi-view images. However, inpainting missing regions, whether due to occlusion or scene editing, remains a challenging task,…

The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sensitivity to artifacts and noise, suboptimal selection of…

Fast and flexible 3D scene reconstruction from unstructured image collections remains a significant challenge. We present YoNoSplat, a feedforward model that reconstructs high-quality 3D Gaussian Splatting representations from an arbitrary…

3D Gaussian Splatting (3DGS) integrates the strengths of primitive-based representations and volumetric rendering techniques, enabling real-time, high-quality rendering. However, 3DGS models typically overfit to single-scene training and…

3D Gaussian Splatting (3DGS) has made remarkable progress in RGBD SLAM. Current methods usually use 3D Gaussians or view-tied 3D Gaussians to represent radiance fields in tracking and mapping. However, these Gaussians are either too…

While existing feed-forward Gaussian splatting models offer computational efficiency and can generalize to sparse view settings, their performance is fundamentally constrained by relying on a single forward pass for inference. We propose…

Scene reconstruction has emerged as a central challenge in computer vision, with approaches such as Neural Radiance Fields (NeRF) and Gaussian Splatting achieving remarkable progress. While Gaussian Splatting demonstrates strong performance…

Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a…

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…

Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping…

3D scene reconstruction and novel-view synthesis are fundamental for VR, robotics, and content creation. However, most NeRF and 3D Gaussian Splatting pipelines assume clean inputs and degrade under real noise and artifacts. We therefore…