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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…
As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…
State-of-the-art novel view synthesis methods achieve impressive results for multi-view captures of static 3D scenes. However, the reconstructed scenes still lack "liveliness," a key component for creating engaging 3D experiences. Recently,…
Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in…
Learning 4D language fields to enable time-sensitive, open-ended language queries in dynamic scenes is essential for many real-world applications. While LangSplat successfully grounds CLIP features into 3D Gaussian representations,…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…
In volume visualization, users can interactively explore the three-dimensional data by specifying color and opacity mappings in the transfer function (TF) or adjusting lighting parameters, facilitating meaningful interpretation of the…
3D Gaussian Splatting has made a marked impact on neural rendering by achieving impressive fidelity and performance. Despite this achievement, however, it is not readily applicable to developing interactive applications. Real-time…
Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI applications. However, most existing 3DGS methods operate in isolation, focusing on specific domains.…
3D Gaussian Splatting (3DGS) is an increasingly popular novel view synthesis approach due to its fast rendering time, and high-quality output. However, scaling 3DGS to large (or intricate) scenes is challenging due to its large memory…
3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle with memory explosion in large-scale scenes and long…
Scene representations using 3D Gaussian primitives have produced excellent results in modeling the appearance of static and dynamic 3D scenes. Many graphics applications, however, demand the ability to manipulate both the appearance and the…
To enable AI agents to interact seamlessly with both humans and 3D environments, they must not only perceive the 3D world accurately but also align human language with 3D spatial representations. While prior work has made significant…
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…
Physical simulation predicts future states of objects based on material properties and external loads, enabling blueprints for both Industry and Engineering to conduct risk management. Current 3D reconstruction-based simulators typically…
TL;DR: Gaussian Splatting is a widely adopted approach for 3D scene representation, offering efficient, high-quality reconstruction and rendering. A key reason for its success is the simplicity of representing scenes with sets of Gaussians,…
Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limited visual realism, and their support for…
3D Gaussian Splatting represents a breakthrough in the field of novel view synthesis. It establishes Gaussians as core rendering primitives for highly accurate real-world environment reconstruction. Recent advances have drastically…
In real-world scenarios, environment changes caused by human or agent activities make it extremely challenging for robots to perform various long-term tasks. Recent works typically struggle to effectively understand and adapt to dynamic…