Related papers: PanoSLAM: Panoptic 3D Scene Reconstruction via Gau…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Implicit neural representation has paved the way for new approaches to dynamic scene reconstruction and rendering. Nonetheless, cutting-edge dynamic neural rendering methods rely heavily on these implicit representations, which frequently…
We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…
We present a framework that enables fast reconstruction and real-time rendering of urban-scale scenes while maintaining robustness against appearance variations across multi-view captures. Our approach begins with scene partitioning for…
Recent advancements in Generalizable Gaussian Splatting have enabled robust 3D reconstruction from sparse input views by utilizing feed-forward Gaussian Splatting models, achieving superior cross-scene generalization. However, while many…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
Within colorectal cancer diagnostics, conventional colonoscopy techniques face critical limitations, including a limited field of view and a lack of depth information, which can impede the detection of precancerous lesions. Current methods…
Realistic reconstruction of dynamic 4D scenes from monocular videos is essential for understanding the physical world. Despite recent progress in neural rendering, existing methods often struggle to recover accurate 3D geometry and…
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…
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to achieve the real-time inference frequency…
Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…
Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time…
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumption due to persistent soft-tissue deformations, creating a…
The choice of scene representation is crucial in both the shape inference algorithms it requires and the smart applications it enables. We present efficient and optimisable multi-class learned object descriptors together with a novel…
Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…
The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…
Reconstructing 3D scenes from multiple viewpoints is a fundamental task in stereo vision. Recently, advances in generalizable 3D Gaussian Splatting have enabled high-quality novel view synthesis for unseen scenes from sparse input views by…
Recent advances in text-to-3D creation integrate the potent prior of Diffusion Models from text-to-image generation into 3D domain. Nevertheless, generating 3D scenes with multiple objects remains challenging. Therefore, we present…
Object-level 3D reconstruction play important roles across domains such as cultural heritage digitization, industrial manufacturing, and virtual reality. However, existing Gaussian Splatting-based approaches generally rely on full-scene…
3D Gaussian Splatting (3DGS) has emerged as a novel explicit representation for 3D scenes, offering both high-fidelity reconstruction and efficient rendering. However, 3DGS lacks 3D segmentation ability, which limits its applicability in…