Related papers: InstanceGaussian: Appearance-Semantic Joint Gaussi…

Recently, 3D Gaussian Splatting (3D-GS) has achieved significant success in real-time, high-quality 3D scene rendering. However, it faces several challenges, including Gaussian redundancy, limited ability to capture view-dependent effects,…

3D Gaussian Splatting (3DGS) has emerged as a promising representation for photorealistic rendering of 3D scenes. However, its high storage requirements pose significant challenges for practical applications. We observe that Gaussians…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sensor coverage. Multiview observations from a single scene scan…

3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) have advanced novel-view synthesis. Recent methods extend multi-view 2D segmentation to 3D, enabling instance/semantic segmentation for better scene understanding. A key…

Novel view synthesis has shown rapid progress recently, with methods capable of producing increasingly photorealistic results. 3D Gaussian Splatting has emerged as a promising method, producing high-quality renderings of scenes and enabling…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Following the advent of NeRFs, 3D Gaussian Splatting (3D-GS) has paved the way to real-time neural rendering overcoming the computational burden of volumetric methods. Following the pioneering work of 3D-GS, several methods have attempted…

3D Gaussian Splatting (3DGS) has witnessed exponential adoption across diverse applications, driving a critical need for semantic-aware 3D Gaussian representations to enable scene understanding and editing tasks. Existing approaches…

We introduce Referring 3D Gaussian Splatting Segmentation (R3DGS), a new task that aims to segment target objects in a 3D Gaussian scene based on natural language descriptions, which often contain spatial relationships or object attributes.…

Sparse-view scene reconstruction often faces significant challenges due to the constraints imposed by limited observational data. These limitations result in incomplete information, leading to suboptimal reconstructions using existing…

Recently, 3D Gaussian Splatting (3DGS) has shown encouraging performance for open vocabulary scene understanding tasks. However, previous methods cannot distinguish 3D instance-level information, which usually predicts a heatmap between the…

High-quality novel view synthesis for large-scale scenes presents a challenging dilemma in 3D computer vision. Existing methods typically partition large scenes into multiple regions, reconstruct a 3D representation using Gaussian splatting…

Gaussian Splatting (GS) has recently marked a significant advancement in 3D reconstruction, delivering both rapid rendering and high-quality results. However, existing 3DGS methods pose challenges in understanding underlying 3D semantics,…

During the Gaussian Splatting optimization process, the scene's geometry can gradually deteriorate if its structure is not deliberately preserved, especially in non-textured regions such as walls, ceilings, and furniture surfaces. This…

3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…

Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…

Implicit neural representation methods have shown impressive advancements in learning 3D scenes from unstructured in-the-wild photo collections but are still limited by the large computational cost of volumetric rendering. More recently, 3D…