Related papers: Performance-Guided Refinement for Visual Aerial Na…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
3D Gaussian Splatting (3DGS) has emerged as a promising 3D reconstruction technique. The traditional 3DGS training pipeline follows three sequential steps: Gaussian densification, Gaussian projection, and color splatting. Despite its…
Inspecting the undercarriage of used vehicles is a labor-intensive task that requires inspectors to crouch or crawl underneath each vehicle to thoroughly examine it. Additionally, online buyers rarely see undercarriage photos. We present an…
Recent advances in 4D scene reconstruction have significantly improved dynamic modeling across various domains. However, existing approaches remain limited under aerial conditions with single-view capture, wide spatial range, and dynamic…
In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…
Reconstructing urban street scenes is crucial due to its vital role in applications such as autonomous driving and urban planning. These scenes are characterized by long and narrow camera trajectories, occlusion, complex object…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
3D Gaussian splatting (3DGS) has emerged as a promising direction for SLAM due to its high-fidelity reconstruction and rapid convergence. However, 3DGS-SLAM algorithms remain impractical for mobile platforms due to their high computational…
Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real…
Underwater scene reconstruction is a critical tech-nology for underwater operations, enabling the generation of 3D models from images captured by underwater platforms. However, the quality of underwater images is often degraded due to…
The rise of 3D Gaussian Splatting has revolutionized photorealistic 3D asset creation, yet a critical gap remains for their interactive refinement and editing. Existing approaches based on diffusion or optimization are ill-suited for this…
High-fidelity 3D reconstruction of vehicle exteriors improves buyer confidence in online automotive marketplaces, but generating these models in cluttered dealership drive-throughs presents severe technical challenges. Unlike static-scene…
2D Gaussian Splatting (2DGS) is an emerging explicit scene representation method with significant potential for image compression due to high fidelity and high compression ratios. However, existing low-light enhancement algorithms operate…
3D Gaussian Splatting (3DGS) has shown great potential in autonomous driving simulation and data generation, enabling photorealistic reconstruction and flexible scene manipulation. However, existing 3DGS scene editing methods have limited…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
We present a framework that enables fast reconstruction and real-time rendering of urban-scale scenes while maintaining robustness against appearance variations across multi-view captures. Our approach begins with scene partitioning for…
Physical simulation predicts future states of objects based on material properties and external loads, enabling blueprints for both Industry and Engineering to conduct risk management. Current 3D reconstruction-based simulators typically…
Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…
Recent advances in feed-forward 3D Gaussian Splatting have led to rapid improvements in efficient scene reconstruction from sparse views. However, most existing approaches construct Gaussian primitives directly aligned with the pixels in…
Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…