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Gaussian Splatting have demonstrated remarkable novel view synthesis performance at high rendering frame rates. Optimization-based inverse rendering within complex capture scenarios remains however a challenging problem. A particular case…
3D Gaussian splatting (GS) has emerged as a transformative technique in radiance fields. Unlike mainstream implicit neural models, 3D GS uses millions of learnable 3D Gaussians for an explicit scene representation. Paired with a…
3D Gaussian Splatting has gained widespread adoption across diverse applications due to its exceptional rendering performance and visual quality. While most existing methods rely on rasterization to render Gaussians, recent research has…
The field of computer graphics was revolutionized by models such as Neural Radiance Fields and 3D Gaussian Splatting, displacing triangles as the dominant representation for photogrammetry. In this paper, we argue for a triangle comeback.…
A few recent works explored incorporating geometric priors to regularize the optimization of Gaussian splatting, further improving its performance. However, those early studies mainly focused on the use of low-order geometric priors (e.g.,…
3D Gaussian splatting (3DGS) is a popular radiance field method, with many application-specific extensions. Most variants rely on the same core algorithm: depth-sorting of Gaussian splats then rasterizing in primitive order. This ensures…
In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…
Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…
Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS),…
Realizing green communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images at high frequencies through wireless channels. This paper proposes Gaussian splatting…
Reconstructing 3D scenes with high fidelity and efficiency remains a central pursuit in computer vision and graphics. Recent advances in 3D Gaussian Splatting (3DGS) enable photorealistic rendering with Gaussian primitives, yet the modeling…
We propose ActiveSplat, an autonomous high-fidelity reconstruction system leveraging Gaussian splatting. Taking advantage of efficient and realistic rendering, the system establishes a unified framework for online mapping, viewpoint…
Reconstructing large-scale dynamic driving scenes remains challenging due to the coexistence of static environments with extreme depth variation and diverse dynamic actors exhibiting complex motions. Existing Gaussian Splatting based…
In this paper, we present a method to optimize Gaussian splatting with a limited number of images while avoiding overfitting. Representing a 3D scene by combining numerous Gaussian splats has yielded outstanding visual quality. However, it…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
The advent of neural and Gaussian-based radiance field methods have achieved great success in the field of novel view synthesis. However, specular reflection remains non-trivial, as the high frequency radiance field is notoriously difficult…
Novel view synthesis has been greatly enhanced by the development of radiance field methods. The introduction of 3D Gaussian Splatting (3DGS) has effectively addressed key challenges, such as long training times and slow rendering speeds,…
Research on differentiable scene representations is consistently moving towards more efficient, real-time models. Recently, this has led to the popularization of splatting methods, which eschew the traditional ray-based rendering of…
We introduce G-Style, a novel algorithm designed to transfer the style of an image onto a 3D scene represented using Gaussian Splatting. Gaussian Splatting is a powerful 3D representation for novel view synthesis, as -- compared to other…
This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…