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Neural implicit representations, including Neural Distance Fields and Neural Radiance Fields, have demonstrated significant capabilities for reconstructing surfaces with complicated geometry and topology, and generating novel views of a…
Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian Splats (3DGS) has recently shown promise towards more accurate, dense 3D scene maps. However, existing 3DGS-based methods fail to address the global consistency of the scene…
The advent of 3D Gaussian Splatting (3D-GS) techniques and their dynamic scene modeling variants, 4D-GS, offers promising prospects for real-time rendering of dynamic surgical scenarios. However, the prerequisite for modeling dynamic scenes…
Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…
With their high-fidelity scene representation capability, the attention of SLAM field is deeply attracted by the Neural Radiation Field (NeRF) and 3D Gaussian Splatting (3DGS). Recently, there has been a surge in NeRF-based SLAM, while…
Recently, the 3D Gaussian Splatting (3D-GS) method has achieved great success in novel view synthesis, providing real-time rendering while ensuring high-quality rendering results. However, this method faces challenges in modeling specular…
3D Gaussian Splatting (3DGS) techniques have recently enabled high-quality 3D scene reconstruction and real-time novel view synthesis. These approaches, however, are limited by the pinhole camera model and lack effective modeling of defocus…
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…
Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…
Recent advances in text-to-3D creation integrate the potent prior of Diffusion Models from text-to-image generation into 3D domain. Nevertheless, generating 3D scenes with multiple objects remains challenging. Therefore, we present…
Recent advancements in 3D Gaussian Splatting (3DGS) have substantially improved novel view synthesis, enabling high-quality reconstruction and real-time rendering. However, blurring artifacts, such as floating primitives and…
In dynamic 3D environments, accurately updating scene representations over time is crucial for applications in robotics, mixed reality, and embodied AI. As scenes evolve, efficient methods to incorporate changes are needed to maintain…
This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…
Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to monocular SLAM remains challenging due to the lack of…
Computer vision-based technologies significantly enhance surgical automation by advancing tool tracking, detection, and localization. However, Current data-driven approaches are data-voracious, requiring large, high-quality labeled image…
Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…
Novel view synthesis for dynamic scenes is still a challenging problem in computer vision and graphics. Recently, Gaussian splatting has emerged as a robust technique to represent static scenes and enable high-quality and real-time novel…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to…