Related papers: SplatSearch: Instance Image Goal Navigation for Mo…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. While recent methods leverage powerful novel view synthesis…

Image-goal navigation enables a robot to reach the location where a target image was captured, using visual cues for guidance. However, current methods either rely heavily on data and computationally expensive learning-based approaches or…

Sparse-view scene reconstruction often faces significant challenges due to the constraints imposed by limited observational data. These limitations result in incomplete information, leading to suboptimal reconstructions using existing…

This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…

Experience Goal Visual Rearrangement task stands as a foundational challenge within Embodied AI, requiring an agent to construct a robust world model that accurately captures the goal state. The agent uses this world model to restore a…

As a new embodied vision task, Instance ImageGoal Navigation (IIN) aims to navigate to a specified object depicted by a goal image in an unexplored environment. The main challenge of this task lies in identifying the target object from…

We present Splat-Nav, a real-time robot navigation pipeline for Gaussian Splatting (GSplat) scenes, a powerful new 3D scene representation. Splat-Nav consists of two components: 1) Splat-Plan, a safe planning module, and 2) Splat-Loc, a…

Improving instance-specific image goal navigation (InstanceImageNav), which locates the identical object in a real-world environment from a query image, is essential for robotic systems to assist users in finding desired objects. The…

Image inpainting is a fundamental task in computer vision, aiming to restore missing or corrupted regions in images realistically. While recent deep learning approaches have significantly advanced the state-of-the-art, challenges remain in…

The integration of aerial and ground images has been a promising solution in 3D modeling of complex scenes, which is seriously restricted by finding reliable correspondences. The primary contribution of this study is a feature matching…

Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions with as few input images as possible. Although 3D Gaussian…

Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

3D Gaussian Splatting (3DGS) has enabled the creation of highly realistic 3D scene representations from sets of multi-view images. However, inpainting missing regions, whether due to occlusion or scene editing, remains a challenging task,…

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, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

Reconstructing and rendering 3D objects from highly sparse views is of critical importance for promoting applications of 3D vision techniques and improving user experience. However, images from sparse views only contain very limited 3D…