Related papers: From Sparse to Dense: Camera Relocalization with S…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

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…

Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…

Gaussian Splatting and its dynamic extensions are effective for reconstructing 3D scenes from 2D images when there is significant camera movement to facilitate motion parallax and when scene objects remain relatively static. However, in…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

Dynamic urban scene modeling is a rapidly evolving area with broad applications. While current approaches leveraging neural radiance fields or Gaussian Splatting have achieved fine-grained reconstruction and high-fidelity novel view…

Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

In this paper, we present a self-calibrating framework that jointly optimizes camera parameters, lens distortion and 3D Gaussian representations, enabling accurate and efficient scene reconstruction. In particular, our technique enables…

We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…

3D Gaussian Splatting (3DGS) techniques have achieved satisfactory 3D scene representation. Despite their impressive performance, they confront challenges due to the limitation of structure-from-motion (SfM) methods on acquiring accurate…

Semantic segmentation, which refers to pixel-wise classification of an image, is a fundamental topic in computer vision owing to its growing importance in robot vision and autonomous driving industries. It provides rich information about…

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…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…