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Recently, 3D Gaussian Splatting (3DGS) has shown encouraging performance for open vocabulary scene understanding tasks. However, previous methods cannot distinguish 3D instance-level information, which usually predicts a heatmap between the…
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…
We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and…
Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…
Recently, Gaussian Splatting, a method that represents a 3D scene as a collection of Gaussian distributions, has gained significant attention in addressing the task of novel view synthesis. In this paper, we highlight a fundamental…
3D semantic field learning is crucial for applications like autonomous navigation, AR/VR, and robotics, where accurate comprehension of 3D scenes from limited viewpoints is essential. Existing methods struggle under sparse view conditions,…
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,…
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,…
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…
Recently, 3D Gaussian Splatting (3D-GS) has emerged, showing real-time rendering speeds and high-quality results in static scenes. Although 3D-GS shows effectiveness in static scenes, their performance significantly degrades in real-world…
Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…
Traditional semantic parsers map language onto compositional, executable queries in a fixed schema. This mapping allows them to effectively leverage the information contained in large, formal knowledge bases (KBs, e.g., Freebase) to answer…
Occupancy mapping has been a key enabler of mobile robotics. Originally based on a discrete grid representation, occupancy mapping has evolved towards continuous representations that can predict the occupancy status at any location and…
Recently, generalizable feed-forward methods based on 3D Gaussian Splatting have gained significant attention for their potential to reconstruct 3D scenes using finite resources. These approaches create a 3D radiance field, parameterized by…
Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…
We introduce abstract rendering, a method for computing a set of images by rendering a scene from a continuously varying range of camera positions. The resulting abstract image-which encodes an infinite collection of possible renderings-is…
Gaussian Splatting has revolutionized the world of novel view synthesis by achieving high rendering performance in real-time. Recently, studies have focused on enriching these 3D representations with semantic information for downstream…
3D Gaussian Splatting (3DGS) has recently emerged as a fast, high-quality method for novel view synthesis (NVS). However, its use of low-degree spherical harmonics limits its ability to capture spatially varying color and view-dependent…
Vision-based autonomous driving shows great potential due to its satisfactory performance and low costs. Most existing methods adopt dense representations (e.g., bird's eye view) or sparse representations (e.g., instance boxes) for…
For downstream applications of vision-language pre-trained models, there has been significant interest in constructing effective prompts. Existing works on prompt engineering, which either require laborious manual designs or optimize the…