Related papers: GLASS: Graph and Vision-Language Assisted Semantic…

Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle…

Accurately reconstructing a 3D scene including explicit geometry information is both attractive and challenging. Geometry reconstruction can benefit from incorporating differentiable appearance models, such as Neural Radiance Fields and 3D…

Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…

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…

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.…

3D Gaussian Splatting (3DGS) is a recent approach for scene rendering. Although primarily designed for view synthesis, its potential for scene understanding tasks remains underexplored. In this work, we conduct a comparative evaluation of…

Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…

3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…

Gaussian Splatting (GS) has emerged as a crucial technique for representing discrete volumetric radiance fields. It leverages unique parametrization to mitigate computational demands in scene optimization. This work introduces…

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…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Learning inter-image similarity is crucial for 3D medical images self-supervised pre-training, due to their sharing of numerous same semantic regions. However, the lack of the semantic prior in metrics and the semantic-independent variation…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Text-guided 3D shape generation remains challenging due to the absence of large paired text-shape data, the substantial semantic gap between these two modalities, and the structural complexity of 3D shapes. This paper presents a new…

Recovering 3D information from scenes via multi-view stereo reconstruction (MVS) and novel view synthesis (NVS) is inherently challenging, particularly in scenarios involving sparse-view setups. The advent of 3D Gaussian Splatting (3DGS)…

Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…

To enable AI agents to interact seamlessly with both humans and 3D environments, they must not only perceive the 3D world accurately but also align human language with 3D spatial representations. While prior work has made significant…

3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features…

Recently, 3D Gaussian Splatting (3D-GS) has achieved significant success in real-time, high-quality 3D scene rendering. However, it faces several challenges, including Gaussian redundancy, limited ability to capture view-dependent effects,…

Generalized zero-shot semantic segmentation (GZS3) aims to achieve the human-level capability of segmenting not only seen classes but also novel class regions unseen in the training data through introducing the bridge of semantic…