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Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet…
Nowadays dense stereo matching has become one of the dominant tools in 3D reconstruction of urban regions for its low cost and high flexibility in generating dense 3D points. However, state-of-the-art stereo matching algorithms usually…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
We introduce GeoGS3D, a novel two-stage framework for reconstructing detailed 3D objects from single-view images. Inspired by the success of pre-trained 2D diffusion models, our method incorporates an orthogonal plane decomposition…
We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…
Recently, 3D Gaussian Splatting (3DGS) has revolutionized radiance field reconstruction, manifesting efficient and high-fidelity novel view synthesis. However, accurately representing surfaces, especially in large and complex scenarios,…
High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…
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 recently attracted wide attentions in various areas such as 3D navigation, Virtual Reality (VR) and 3D simulation, due to its photorealistic and efficient rendering performance. High-quality reconstrution of…
3D modeling of highly reflective objects remains challenging due to strong view-dependent appearances. While previous SDF-based methods can recover high-quality meshes, they are often time-consuming and tend to produce over-smoothed…
The 3D Gaussian Splatting technique has significantly advanced the construction of radiance fields from multi-view images, enabling real-time rendering. While point-based rasterization effectively reduces computational demands for…
Surface reconstruction and novel view rendering from sparse-view images are challenging. Signed Distance Function (SDF)-based methods struggle with fine details, while 3D Gaussian Splatting (3DGS)-based approaches lack global geometry…
Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS),…
Gaussian Splatting (GS) has gained attention as a fast and effective method for novel view synthesis. It has also been applied to 3D reconstruction using multi-view images and can achieve fast and accurate 3D reconstruction. However, GS…
Simultaneous localization and mapping (SLAM) technology has recently achieved photorealistic mapping capabilities thanks to the real-time, high-fidelity rendering enabled by 3D Gaussian Splatting (3DGS). However, due to the static…
Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient approach for accurately representing scenes. However, despite its superior novel view synthesis capabilities, extracting the geometry of the scene directly from the Gaussian…