Related papers: DCSEG: Decoupled 3D Open-Set Segmentation using Ga…
Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…
This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…
Automatic car damage detection has been a topic of significant interest for the auto insurance industry as it promises faster, accurate, and cost-effective damage assessments. However, few works have gone beyond 2D image analysis to…
Modeling 3D language fields with Gaussian Splatting for open-ended language queries has recently garnered increasing attention. However, recent 3DGS-based models leverage view-dependent 2D foundation models to refine 3D semantics but lack a…
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…
We present OpenSeeD, a simple Open-vocabulary Segmentation and Detection framework that jointly learns from different segmentation and detection datasets. To bridge the gap of vocabulary and annotation granularity, we first introduce a…
Gaussian Splatting has emerged as a prominent 3D representation in novel view synthesis, but it still suffers from appearance variations, which are caused by various factors, such as modern camera ISPs, different time of day, weather…
3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features…
3D segmentation is a fundamental and challenging problem in computer vision with applications in autonomous driving and robotics. It has received significant attention from the computer vision, graphics and machine learning communities.…
Physics simulation is paramount for modeling and utilizing 3D scenes in various real-world applications. However, integrating with state-of-the-art 3D scene rendering techniques such as Gaussian Splatting (GS) remains challenging. Existing…
The emergence of neural representations has revolutionized our means for digitally viewing a wide range of 3D scenes, enabling the synthesis of photorealistic images rendered from novel views. Recently, several techniques have been proposed…
3D affordance reasoning is essential in associating human instructions with the functional regions of 3D objects, facilitating precise, task-oriented manipulations in embodied AI. However, current methods, which predominantly depend on…
Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view synthesis and thus is attractive for data generation.…
3D Gaussian Splatting (3DGS) is a highly deployable real-time method for novel view synthesis. In practice, it requires a universal, consistent control mechanism that adjusts the trade-off between rendering quality and model compression…
Dynamic scene rendering opens new avenues in autonomous driving by enabling closed-loop simulations with photorealistic data, which is crucial for validating end-to-end algorithms. However, the complex and highly dynamic nature of traffic…
The increasing availability of digital 3D environments, whether through image-based 3D reconstruction, generation, or scans obtained by robots, is driving innovation across various applications. These come with a significant demand for 3D…
We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…
In large-scale scene reconstruction using 3D Gaussian splatting, it is common to partition the scene into multiple smaller regions and reconstruct them individually. However, existing division methods are occlusion-agnostic, meaning that…
Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…
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…