Related papers: RoboGSim: A Real2Sim2Real Robotic Gaussian Splatti…
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their…
Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…
Modern autonomous vehicle simulators feature an ever-growing library of assets, including vehicles, buildings, roads, pedestrians, and more. While this level of customization proves beneficial when creating virtual urban environments, this…
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…
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…
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…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient…
Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient approach for accurately representing scenes. However, despite its superior novel view synthesis capabilities, extracting the geometry of the scene directly from the Gaussian…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
As consumer Virtual Reality (VR) and Mixed Reality (MR) technologies gain momentum, there's a growing focus on the development of engagements with 3D virtual content. Unfortunately, traditional techniques for content creation, editing, and…
Despite well-reported instances of robots being used in disaster response, there is scant published data on the internal composition of the void spaces within structural collapse incidents. Data collected during these incidents is mired in…
Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
In robotic vision, a de-facto paradigm is to learn in simulated environments and then transfer to real-world applications, which poses an essential challenge in bridging the sim-to-real domain gap. While mainstream works tackle this problem…
Reconstructing dynamic scenes with large-scale and complex motions remains a significant challenge. Recent techniques like Neural Radiance Fields and 3D Gaussian Splatting (3DGS) have shown promise but still struggle with scenes involving…
3D Gaussian Splatting (3DGS) proposes an efficient solution for novel view synthesis. Its framework provides fast and high-fidelity rendering. Although less complex than other solutions such as Neural Radiance Fields (NeRF), there are still…
4D reconstruction from casually captured monocular videos is challenging due to inherent ambiguity in reconstructing dynamic 3D geometry. To address this challenge, we introduce Robust Dynamic Gaussian Splatting (RoDyGS), a method that…
The reconstruction of indoor scenes remains challenging due to the inherent complexity of spatial structures and the prevalence of textureless regions. Recent advancements in 3D Gaussian Splatting have improved novel view synthesis with…
3D Gaussian Splatting (3DGS) has garnered significant attention due to its superior scene representation fidelity and real-time rendering performance, especially for dynamic 3D scene reconstruction (\textit{i.e.}, 4D reconstruction).…