Related papers: SplaTraj: Camera Trajectory Generation with Semant…
3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
The reconstruction of 3D objects from calibrated photographs represents a fundamental yet intricate challenge in the domains of computer graphics and vision. Although neural reconstruction approaches based on Neural Radiance Fields (NeRF)…
Neural rendering techniques have made substantial progress in generating photo-realistic 3D scenes. The latest 3D Gaussian Splatting technique has achieved high quality novel view synthesis as well as fast rendering speed. However, 3D…
Creating accurate, physical simulations directly from real-world robot motion holds great value for safe, scalable, and affordable robot learning, yet remains exceptionally challenging. Real robot data suffers from occlusions, noisy camera…
3D Gaussian Splatting (3D GS) achieves impressive results in novel view synthesis for small, single-object scenes through Gaussian ellipsoid initialization and adaptive density control. However, when applied to large-scale remote sensing…
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…
Novel View Synthesis plays a crucial role by generating new 2D renderings from multi-view images of 3D scenes. However, capturing high-speed scenes with conventional cameras often leads to motion blur, hindering the effectiveness of 3D…
Recent advancements in 3D reconstruction coupled with neural rendering techniques have greatly improved the creation of photo-realistic 3D scenes, influencing both academic research and industry applications. The technique of 3D Gaussian…
This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…
Currently, 3D rendering for large-scale free camera trajectories, namely, arbitrary input camera trajectories, poses significant challenges: 1) The distribution and observation angles of the cameras are irregular, and various types of…
We present Splat-SAP, a feed-forward approach to render novel views of human-centered scenes from binocular cameras with large sparsity. Gaussian Splatting has shown its promising potential in rendering tasks, but it typically necessitates…
The increasing demand for virtual reality applications has highlighted the significance of crafting immersive 3D assets. We present a text-to-3D 360$^{\circ}$ scene generation pipeline that facilitates the creation of comprehensive…
The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…
Dynamic videos with small baseline motions are ubiquitous in daily life, especially on social media. However, these videos present a challenge to existing pose estimation frameworks due to ambiguous features, drift accumulation, and…
Reconstructing urban scenes is challenging due to their complex geometries and the presence of potentially dynamic objects. 3D Gaussian Splatting (3DGS)-based methods have shown strong performance, but existing approaches often incorporate…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
The problem of 3D reconstruction from posed images is undergoing a fundamental transformation, driven by continuous advances in 3D Gaussian Splatting (3DGS). By modeling scenes explicitly as collections of 3D Gaussians, 3DGS enables…
Recent advances in 3D Gaussian Splatting have enabled impressive photorealistic novel view synthesis. However, to transition from a pure rendering engine to a reliable spatial map for autonomous agents and safety-critical applications,…