Related papers: Green Robotic Mixed Reality with Gaussian Splattin…
Reconstructing dynamic scenes with multiple interacting humans and objects from sparse-view inputs is a critical yet challenging task, essential for creating high-fidelity digital twins for robotics and VR/AR. This problem, which we term…
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…
Place recognition is a crucial component that enables autonomous vehicles to obtain localization results in GPS-denied environments. In recent years, multimodal place recognition methods have gained increasing attention. They overcome the…
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…
In the context of ground robot navigation in unstructured hazardous environments, the coupling of efficient path planning with an adequate environment representation is a crucial topic in order to guarantee the robot safety while ensuring…
Gaussian Splatting (GS) has recently emerged as a state-of-the-art representation for radiance fields, combining real-time rendering with high visual fidelity. However, GS models require storing millions of parameters, leading to large file…
This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with…
Constructing and sharing 3D maps is essential for many applications, including autonomous driving and augmented reality. Recently, 3D Gaussian splatting has emerged as a promising approach for accurate 3D reconstruction. However, a…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
Recent state-of-the-art algorithms in photometric stereo rely on neural networks and operate either through prior learning or inverse rendering optimization. Here, we revisit the problem of calibrated photometric stereo by leveraging recent…
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,…
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between…
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…
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…
3D scene reconstruction and rendering are core tasks in computer vision, with applications spanning industrial monitoring, robotics, and autonomous driving. Recent advances in 3D Gaussian Splatting (GS) and its variants have achieved…
Recently, Gaussian splatting has emerged as a strong alternative to NeRF, demonstrating impressive 3D modeling capabilities while requiring only a fraction of the training and rendering time. In this paper, we show how the standard Gaussian…
Recent years have witnessed substantial advancements in the field of 3D reconstruction from 2D images, particularly following the introduction of the neural radiance field (NeRF) technique. However, reconstructing a 3D high dynamic range…
Recent advancements in 3D Gaussian Splatting (3D-GS) have revolutionized novel view synthesis, facilitating real-time, high-quality image rendering. However, in scenarios involving reflective surfaces, particularly mirrors, 3D-GS often…
Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…
Reconfigurable intelligent surfaces (RISs) have become a promising technology to meet the requirements of energy efficiency and scalability in future six-generation (6G) communications. However, a significant challenge in RISs-aided…