Related papers: SplatSearch: Instance Image Goal Navigation for Mo…
We propose GS-IR, a novel inverse rendering approach based on 3D Gaussian Splatting (GS) that leverages forward mapping volume rendering to achieve photorealistic novel view synthesis and relighting results. Unlike previous works that use…
We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation…
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…
Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
Navigating to a designated goal using visual information is a fundamental capability for intelligent robots. To address the practical demands of multi-modal, open-vocabulary goal queries and multi-goal visual navigation, we propose LagMemo,…
Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…
Generating and inserting new objects into 3D content is a compelling approach for achieving versatile scene recreation. Existing methods, which rely on SDS optimization or single-view inpainting, often struggle to produce high-quality…
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where…
Language-guided 3D scene understanding is important for advancing applications in robotics, AR/VR, and human-computer interaction, enabling models to comprehend and interact with 3D environments through natural language. While 2D…
3D Gaussian Splatting (3DGS) has emerged as a prominent technique with the potential to become a mainstream method for 3D representations. It can effectively transform multi-view images into explicit 3D Gaussian through efficient training,…
3D Gaussian Splatting (3DGS) has become a powerful representation for image-based object reconstruction, yet its performance drops sharply in sparse-view settings. Prior works address this limitation by employing diffusion models to repair…
3D Gaussian splatting (3DGS) is an emerging technique for photorealistic 3D scene rendering. However, rendering city-scale 3DGS scenes on resource-constrained mobile devices in real-time remains a significant challenge due to two…
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…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
We present GSD, a diffusion model approach based on Gaussian Splatting (GS) representation for 3D object reconstruction from a single view. Prior works suffer from inconsistent 3D geometry or mediocre rendering quality due to improper…
Long time-duration low-thrust nonlinear optimal spacecraft trajectory global search is a computationally and time expensive problem characterized by clustering patterns in locally optimal solutions. During preliminary mission design,…
We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…
We introduce Ilov3Splat, a novel framework for instance-level open-vocabulary 3D scene understanding built on 3D Gaussian Splatting (3D-GS). Most prior work depends on 2D rendering-based matching or point-level semantic association, which…
3D Gaussian Splatting (3DGS) has emerged as a powerful representation for high-quality rendering across a wide range of applications.However, its high computational demands and large storage costs pose significant challenges for deployment…