Related papers: ActiveGS: Active Scene Reconstruction Using Gaussi…
Recent 3D Gaussian Splatting (3DGS) representations have demonstrated remarkable performance in novel view synthesis; further, material-lighting disentanglement on 3DGS warrants relighting capabilities and its adaptability to broader…
High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios -…
This paper presents GS-RoadPatching, an inpainting method for driving scene completion by referring to completely reconstructed regions, which are represented by 3D Gaussian Splatting (3DGS). Unlike existing 3DGS inpainting methods that…
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…
3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians…
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…
This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…
Gaussian splatting typically requires dense observations of the scene and can fail to reconstruct occluded and unobserved areas. We propose a latent diffusion model to reconstruct a complete 3D scene with Gaussian splats, including the…
This paper proposes a novel framework for large-scale scene reconstruction based on 3D Gaussian splatting (3DGS) and aims to address the scalability and accuracy challenges faced by existing methods. For tackling the scalability issue, we…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Recent advances in leveraging large-scale Internet photo collections for 3D reconstruction have enabled immersive virtual exploration of landmarks and historic sites worldwide. However, little attention has been given to the immersive…
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…
While 3D Gaussian Splatting (3DGS) achieves real-time photorealistic rendering, its performance degrades significantly when training images contain transient objects that violate multi-view consistency. Existing methods face a circular…
In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile…
Reconstructing dynamic 3D scenes from monocular video remains fundamentally challenging due to the need to jointly infer motion, structure, and appearance from limited observations. Existing dynamic scene reconstruction methods based on…
Reconstructing 3D scenes with high fidelity and efficiency remains a central pursuit in computer vision and graphics. Recent advances in 3D Gaussian Splatting (3DGS) enable photorealistic rendering with Gaussian primitives, yet the modeling…
Scene view synthesis, which generates novel views from limited perspectives, is increasingly vital for applications like virtual reality, augmented reality, and robotics. Unlike object-based tasks, such as generating 360{\deg} views of a…
Recent 3D Gaussian Splatting (3DGS) methods have demonstrated the feasibility of self-driving scene reconstruction and novel view synthesis. However, most existing methods either rely solely on cameras or use LiDAR only for Gaussian…
We demonstrate the feasibility of integrating physics-based animations of solids and fluids with 3D Gaussian Splatting (3DGS) to create novel effects in virtual scenes reconstructed using 3DGS. Leveraging the coherence of the Gaussian…
Inverse rendering of glossy objects from RGB imagery remains fundamentally limited by inherent ambiguity. Although NeRF-based methods achieve high-fidelity reconstruction via dense-ray sampling, their computational cost is prohibitive.…