Related papers: Exploring the Versal AI Engine for 3D Gaussian Spl…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Dense colored point clouds enhance visual perception and are of significant value in various robotic applications. However, existing learning-based point cloud upsampling methods are constrained by computational resources and batch…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…
3D Gaussian Splatting (3DGS) enables high-quality rendering of 3D scenes and is getting increasing adoption in domains like autonomous driving and embodied intelligence. However, 3DGS still faces major efficiency challenges when faced with…
Sensor simulation is pivotal for scalable validation of autonomous driving systems, yet existing Neural Radiance Fields (NeRF) based methods face applicability and efficiency challenges in industrial workflows. This paper introduces a…
Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS),…
3D intelligence leverages rich 3D features and stands as a promising frontier in AI, with 3D rendering fundamental to many downstream applications. 3D Gaussian Splatting (3DGS), an emerging high-quality 3D rendering method, requires…
General Matrix Multiplication (GEMM) is a fundamental operation in many scientific workloads, signal processing, and particularly deep learning. It is often a bottleneck for performance and energy efficiency, especially in edge environments…
Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…
The real-time deployment of cascaded generative AI pipelines for applications like video translation is constrained by significant system-level challenges. These include the cumulative latency of sequential model inference and the quadratic…
In this paper, we explore the existing challenges in 3D artistic scene generation by introducing ART3D, a novel framework that combines diffusion models and 3D Gaussian splatting techniques. Our method effectively bridges the gap between…
This paper investigates the design of parallel general matrix multiplication (GEMM) for a Versal Adaptive Compute Accelerated Platform (ACAP) equipped with a VC1902 system-on-chip and multiple Artificial Intelligence Engines (AIEs). Our…
3D Gaussian Splatting (3DGS) is a recent explicit 3D representation that has achieved high-quality reconstruction and real-time rendering of complex scenes. However, the rasterization pipeline still suffers from unnecessary overhead…
AMD Xilinx's new Versal Adaptive Compute Acceleration Platform (ACAP) is an FPGA architecture combining reconfigurable fabric with other on-chip hardened compute resources. AI engines are one of these and, by operating in a highly…
Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…
Traditional volumetric fusion algorithms preserve the spatial structure of 3D scenes, which is beneficial for many tasks in computer vision and robotics. However, they often lack realism in terms of visualization. Emerging 3D Gaussian…
Dynamic 3D Gaussian splatting (3DGS) extends static 3DGS to render dynamic scenes, enabling AR/VR applications with moving objects. However, implementing dynamic 3DGS on edge devices faces challenges: (1) Loading all Gaussian parameters…
We present a novel approach for enhancing the resolution and geometric fidelity of 3D Gaussian Splatting (3DGS) beyond native training resolution. Current 3DGS methods are fundamentally limited by their input resolution, producing…