Related papers: DecoupledGaussian: Object-Scene Decoupling for Phy…
Real objects that inhabit the physical world follow physical laws and thus behave plausibly during interaction with other physical objects. However, current methods that perform 3D reconstructions of real-world scenes from multi-view 2D…
Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem…
3D Gaussians, as a low-level scene representation, typically involve thousands to millions of Gaussians. This makes it difficult to control the scene in ways that reflect the underlying dynamic structure, where the number of independent…
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…
We present DeSiRe-GS, a self-supervised gaussian splatting representation, enabling effective static-dynamic decomposition and high-fidelity surface reconstruction in complex driving scenarios. Our approach employs a two-stage optimization…
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…
Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…
Capturing and re-animating the 3D structure of articulated objects present significant barriers. On one hand, methods requiring extensively calibrated multi-view setups are prohibitively complex and resource-intensive, limiting their…
Scene image editing is crucial for entertainment, photography, and advertising design. Existing methods solely focus on either 2D individual object or 3D global scene editing. This results in a lack of a unified approach to effectively…
Understanding dynamic 3D environments is essential for safe autonomous driving, particularly when reasoning about human-centric, nonrigid agents. However, existing weakly supervised occupancy prediction frameworks predominantly assume…
Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments remains challenging. Most methods directly remove dynamic…
3D Gaussian Splatting (3DGS) has attracted significant attention for its high-quality novel view rendering, inspiring research to address real-world challenges. While conventional methods depend on sharp images for accurate scene…
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…
3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient…
Reconstructing dynamic scenes from Vehicle-to-Infrastructure Cooperative Autonomous Driving (VICAD) data is fundamentally complicated by temporal asynchrony: vehicle and infrastructure cameras operate on independent clocks, capturing the…
This paper tackles the challenge of recovering 4D dynamic scenes from videos captured by as few as four portable cameras. Learning to model scene dynamics for temporally consistent novel-view rendering is a foundational task in computer…
For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…
This paper considers the problem of modeling articulated objects captured in 2D videos to enable novel view synthesis, while also being easily editable, drivable, and re-posable. To tackle this challenging problem, we propose RigGS, a new…
High-dynamic scene reconstruction aims to represent static background with rigid spatial features and dynamic objects with deformed continuous spatiotemporal features. Typically, existing methods adopt unified representation model (e.g.,…
Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…