Related papers: GaussNav: Gaussian Splatting for Visual Navigation
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…
3D Gaussian Splatting has recently emerged as an efficient solution for high-quality and real-time novel view synthesis. However, its capability for accurate surface reconstruction remains underexplored. Due to the discrete and unstructured…
Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…
Implicit Neural Representation (INR) has demonstrated remarkable advances in the field of image representation but demands substantial GPU resources. GaussianImage recently pioneered the use of Gaussian Splatting to mitigate this cost,…
Implicit neural representation methods have shown impressive advancements in learning 3D scenes from unstructured in-the-wild photo collections but are still limited by the large computational cost of volumetric rendering. More recently, 3D…
Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…
Image representation is a fundamental task in computer vision. Recently, Gaussian Splatting has emerged as an efficient representation framework, and its extension to 2D image representation enables lightweight, yet expressive modeling of…
Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…
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…
Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…
Bird's-eye view (BEV) perception has gained significant attention because it provides a unified representation to fuse multiple view images and enables a wide range of down-stream autonomous driving tasks, such as forecasting and planning.…
Vision-language navigation (VLN) requires an agent to traverse complex 3D environments based on natural language instructions, necessitating a thorough scene understanding. While existing works equip agents with various scene…
3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…
Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…
Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…
UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…
We present a new approach, termed GPS-Gaussian, for synthesizing novel views of a character in a real-time manner. The proposed method enables 2K-resolution rendering under a sparse-view camera setting. Unlike the original Gaussian…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving.…