Related papers: Let's Make a Splan: Risk-Aware Trajectory Optimiza…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
3D Gaussian Splatting (3DGS) optimization is most commonly performed using standard optimizers (Adam, SGD). While stable across diverse scenes, standard optimizers are general-purpose and not tailored to the structure of the problem. In…
Recent advancements in 3D Gaussian Splatting (3D-GS) have revolutionized novel view synthesis, facilitating real-time, high-quality image rendering. However, in scenarios involving reflective surfaces, particularly mirrors, 3D-GS often…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
Many commodity sensors that measure the robot and dynamic obstacle's state have non-Gaussian noise characteristics. Yet, many current approaches treat the underlying-uncertainty in motion and perception as Gaussian, primarily to ensure…
The 3D Gaussian Splatting technique has significantly advanced the construction of radiance fields from multi-view images, enabling real-time rendering. While point-based rasterization effectively reduces computational demands for…
Gaussian Splatting has revolutionized the world of novel view synthesis by achieving high rendering performance in real-time. Recently, studies have focused on enriching these 3D representations with semantic information for downstream…
Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…
3D Gaussian Splatting (3DGS) has transformed novel-view synthesis with its fast, interpretable, and high-fidelity rendering. However, its resource requirements limit its usability. Especially on constrained devices, training performance…
Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…
Sensor simulation is pivotal for scalable validation of autonomous driving systems, yet existing Neural Radiance Fields (NeRF) based methods face applicability and efficiency challenges in industrial workflows. This paper introduces a…
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…
3D Gaussian Splatting (3D-GS) is a recent 3D scene reconstruction technique that enables real-time rendering of novel views by modeling scenes as parametric point clouds of differentiable 3D Gaussians. However, its rendering speed and model…
3D Gaussian Splatting (3DGS) has emerged as a mainstream for novel view synthesis, leveraging continuous aggregations of Gaussian functions to model scene geometry. However, 3DGS suffers from substantial memory requirements to store the…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Rendering complex reflection of real-world scenes using 3D Gaussian splatting has been a quite promising solution for photorealistic novel view synthesis, but still faces bottlenecks especially in rendering speed and memory storage. This…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for radiance field rendering, but it typically requires millions of redundant Gaussian primitives, overwhelming memory and rendering budgets. Existing compaction approaches…
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…
In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routine. The collision avoidance under uncertainty is modeled here…