Related papers: MSGField: A Unified Scene Representation Integrati…
Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent volumetric and point primitive methods based on neural…
Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
Injecting semantics into 3D Gaussian Splatting (3DGS) has recently garnered significant attention. While current approaches typically distill 3D semantic features from 2D foundational models (e.g., CLIP and SAM) to facilitate novel view…
Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…
We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…
As generative models become increasingly capable of producing high-fidelity visual content, the demand for efficient, interpretable, and editable image representations has grown substantially. Recent advances in 2D Gaussian Splatting (2DGS)…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis. However, existing methods struggle to adaptively optimize the distribution of Gaussian primitives based on scene characteristics, making it…
Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…
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…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…
The reconstruction of dynamic 3D scenes using 3D Gaussian Splatting has shown significant promise. A key challenge, however, remains in modeling realistic motion, as most methods fail to align the motion of Gaussians with real-world…
Accurate meshing from monocular images remains a key challenge in 3D vision. While state-of-the-art 3D Gaussian Splatting (3DGS) methods excel at synthesizing photorealistic novel views through rasterization-based rendering, their reliance…
Scene image editing is crucial for entertainment, photography, and advertising design. Existing methods solely focus on either 2D individual object or 3D global scene editing. This results in a lack of a unified approach to effectively…
An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…
This paper proposes Neural-MMGS, a novel neural 3DGS framework for multimodal large-scale scene reconstruction that fuses multiple sensing modalities in a per-gaussian compact, learnable embedding. While recent works focusing on large-scale…
Novel view synthesis of dynamic scenes has been an intriguing yet challenging problem. Despite recent advancements, simultaneously achieving high-resolution photorealistic results, real-time rendering, and compact storage remains a…
A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate semantics while avoiding the significant memory and storage…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
We present MVSGaussian, a new generalizable 3D Gaussian representation approach derived from Multi-View Stereo (MVS) that can efficiently reconstruct unseen scenes. Specifically, 1) we leverage MVS to encode geometry-aware Gaussian…