Related papers: DynamicGSG: Dynamic 3D Gaussian Scene Graphs for E…
Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…
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 -…
Recent advances in 3D Gaussian Splatting have shown remarkable potential for novel view synthesis. However, most existing large-scale scene reconstruction methods rely on the divide-and-conquer paradigm, which often leads to the loss of…
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…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
In the field of 3D dynamic scene reconstruction, how to balance model convergence rate and rendering quality has long been a critical challenge that urgently needs to be addressed, particularly in high-precision modeling of scenes with…
3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality…
Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation…
This paper addresses the problem of dynamic scene surface reconstruction using Gaussian Splatting (GS), aiming to recover temporally consistent geometry. While existing GS-based dynamic surface reconstruction methods can yield superior…
Recent advancements in high-fidelity dynamic scene reconstruction have leveraged dynamic 3D Gaussians and 4D Gaussian Splatting for realistic scene representation. However, to make these methods viable for real-time applications such as…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
This paper presents DENSER, an efficient and effective approach leveraging 3D Gaussian splatting (3DGS) for the reconstruction of dynamic urban environments. While several methods for photorealistic scene representations, both implicitly…
The recent advent of 3D Gaussian Splatting (3DGS) has revolutionized the 3D scene reconstruction space enabling high-fidelity novel view synthesis in real-time. However, with the exception of RawNeRF, all prior 3DGS and NeRF-based methods…
3D Gaussian Splatting (3DGS) has recently gained popularity for efficient scene rendering by representing scenes as explicit sets of anisotropic 3D Gaussians. However, most existing work focuses primarily on modeling external surfaces. In…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
Modeling dynamic, large-scale urban scenes is challenging due to their highly intricate geometric structures and unconstrained dynamics in both space and time. Prior methods often employ high-level architectural priors, separating static…
While 3D Gaussian Splatting (3DGS) enables high-quality, real-time rendering for bounded scenes, its extension to large-scale urban environments gives rise to critical challenges in terms of geometric consistency, memory efficiency, and…
Recent advances in 3D scene representations have enabled high-fidelity novel view synthesis, yet adapting to discrete scene changes and constructing interactive 3D environments remain open challenges in vision and robotics. Existing…
We present a method that simultaneously addresses the tasks of dynamic scene novel-view synthesis and six degree-of-freedom (6-DOF) tracking of all dense scene elements. We follow an analysis-by-synthesis framework, inspired by recent work…
Visualization of large-scale time-dependent simulation data is crucial for domain scientists to analyze complex phenomena, but it demands significant I/O bandwidth, storage, and computational resources. To enable effective visualization on…