Related papers: RT-GuIDE: Real-Time Gaussian Splatting for Informa…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
We present DeSiRe-GS, a self-supervised gaussian splatting representation, enabling effective static-dynamic decomposition and high-fidelity surface reconstruction in complex driving scenarios. Our approach employs a two-stage optimization…
3D Gaussian splatting (3DGS) is an emerging technique for photorealistic 3D scene rendering. However, rendering city-scale 3DGS scenes on resource-constrained mobile devices in real-time remains a significant challenge due to two…
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…
LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight representation of the environment still poses challenges.…
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…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
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…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
Terrain analysis is critical for the practical ap- plication of ground mobile robots in real-world tasks, espe- cially in outdoor unstructured environments. In this paper, we propose a novel spatial-temporal traversability assessment…
The accelerating deployment of spacecraft in orbit have generated interest in on-orbit servicing (OOS), inspection of spacecraft, and active debris removal (ADR). Such missions require precise rendezvous and proximity operations in the…
Efficiently synthesizing novel views from sparse inputs while maintaining accuracy remains a critical challenge in 3D reconstruction. While advanced techniques like radiance fields and 3D Gaussian Splatting achieve rendering quality and…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Highly accurate geometric precision and dense image features characterize True Digital Orthophoto Maps (TDOMs), which are in great demand for applications such as urban planning, infrastructure management, and environmental monitoring.…
Constructing and sharing 3D maps is essential for many applications, including autonomous driving and augmented reality. Recently, 3D Gaussian splatting has emerged as a promising approach for accurate 3D reconstruction. However, a…
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 (3D-GS) has recently attracted great attention with real-time and photo-realistic renderings. This technique typically takes perspective images as input and optimizes a set of 3D elliptical Gaussians by splatting them…
Traditional volumetric fusion algorithms preserve the spatial structure of 3D scenes, which is beneficial for many tasks in computer vision and robotics. However, they often lack realism in terms of visualization. Emerging 3D Gaussian…
Gaussian Splatting (GS) has proven to be highly effective in novel view synthesis, achieving high-quality and real-time rendering. However, its potential for reconstructing detailed 3D shapes has not been fully explored. Existing methods…
Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…