Related papers: VoteSplat: Hough Voting Gaussian Splatting for 3D …
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…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
Gaussian Splatting has achieved remarkable progress in multi-view surface reconstruction, yet it exhibits notable degradation when only few views are available. Although recent efforts alleviate this issue by enhancing multi-view…
Scene understanding based on 3D Gaussian Splatting (3DGS) has recently achieved notable advances. Although 3DGS related methods have efficient rendering capabilities, they fail to address the inherent contradiction between the anisotropic…
With the emergence of Gaussian Splats, recent efforts have focused on large-scale scene geometric reconstruction. However, most of these efforts either concentrate on memory reduction or spatial space division, neglecting information in the…
3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…
Holistic understanding of urban scenes based on RGB images is a challenging yet important problem. It encompasses understanding both the geometry and appearance to enable novel view synthesis, parsing semantic labels, and tracking moving…
Visualization of large-scale time-dependent simulation data is crucial for domain scientists to analyze complex phenomena, but it demands significant I/O bandwidth, storage, and computational resources. To enable effective visualization on…
3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization…
Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…
Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…
Open-vocabulary 3D scene understanding is crucial for robotics applications, such as natural language-driven manipulation, human-robot interaction, and autonomous navigation. Existing methods for querying 3D Gaussian Splatting often…
Recent advances in 3D Gaussian Splatting have shown remarkable potential for novel view synthesis. However, most existing large-scale scene reconstruction methods rely on the divide-and-conquer paradigm, which often leads to the loss of…
Novel view synthesis (NVS) of static and dynamic urban scenes is essential for autonomous driving simulation, yet existing methods often struggle to balance reconstruction time with quality. While state-of-the-art neural radiance fields and…
Novel view synthesis has demonstrated impressive progress recently, with 3D Gaussian splatting (3DGS) offering efficient training time and photorealistic real-time rendering. However, reliance on Cartesian coordinates limits 3DGS's…
Remembering where object segments were predicted in the past is useful for improving the accuracy and consistency of class-agnostic video segmentation algorithms. Existing video segmentation algorithms typically use either no object-level…
Existing Gaussian splatting methods often fall short in achieving satisfactory novel view synthesis in driving scenes, primarily due to the absence of crafty designs and geometric constraints for the involved elements. This paper introduces…
We present the first unified framework for rate-distortion-optimized compression and segmentation of 3D Gaussian Splatting (3DGS). While 3DGS has proven effective for both real-time rendering and semantic scene understanding, prior works…
We have introduced SegSplat, a novel framework designed to bridge the gap between rapid, feed-forward 3D reconstruction and rich, open-vocabulary semantic understanding. By constructing a compact semantic memory bank from multi-view 2D…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…