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3D Gaussian Splatting (3D-GS) has emerged as a significant advancement in the field of Computer Graphics, offering explicit scene representation and novel view synthesis without the reliance on neural networks, such as Neural Radiance…

We introduce OpenShape, a method for learning multi-modal joint representations of text, image, and point clouds. We adopt the commonly used multi-modal contrastive learning framework for representation alignment, but with a specific focus…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Recent progress in self-supervised representation learning has resulted in models that are capable of extracting image features that are not only effective at encoding image level, but also pixel-level, semantics. These features have been…

While novel view synthesis (NVS) for dynamic scenes has seen significant progress, reconstructing temporally consistent geometric surfaces remains a challenge. Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) offer powerful…

3D Gaussian Splatting (3DGS) enables efficient rendering, yet accurate surface reconstruction remains challenging due to unreliable geometric supervision. Existing approaches predominantly rely on depth-based reprojection to infer…

Geometric consistency, i.e. the preservation of neighbourhoods, is a natural and strong prior in 3D shape matching. Geometrically consistent matchings are crucial for many downstream applications, such as texture transfer or statistical…

3D Gaussian splatting, emerging as a groundbreaking approach, has drawn increasing attention for its capabilities of high-fidelity reconstruction and real-time rendering. However, it couples the appearance and geometry of the scene within…

Implicit 3D surface reconstruction of an object from its partial and noisy 3D point cloud scan is the classical geometry processing and 3D computer vision problem. In the literature, various 3D shape representations have been developed,…

Self-supervised contrastive learning (SSCL) has achieved significant milestones in remote sensing image (RSI) understanding. Its essence lies in designing an unsupervised instance discrimination pretext task to extract image features from a…

Cross-view geo-spatial learning consists of two important tasks: Cross-View Geo-Localization (CVGL) and Cross-View Image Synthesis (CVIS), both of which rely on establishing geometric correspondences between ground and aerial views. Recent…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

Finding vertex-to-vertex correspondences in real-world graphs is a challenging task with applications in a wide variety of domains. Structural matching based on graphs connectivities has attracted considerable attention, while the…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

3D Gaussian Splatting (3DGS) has emerged as a novel explicit representation for 3D scenes, offering both high-fidelity reconstruction and efficient rendering. However, 3DGS lacks 3D segmentation ability, which limits its applicability in…

Semi-supervised semantic segmentation (SSSS) is vital in computational pathology, where dense annotations are costly and limited. Existing methods often rely on pixel-level consistency, which propagates noisy pseudo-labels and produces…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Unsupervised learning for geometric perception (depth, optical flow, etc.) is of great interest to autonomous systems. Recent works on unsupervised learning have made considerable progress on perceiving geometry; however, they usually…

Image representation is a fundamental task in computer vision. Recently, Gaussian Splatting has emerged as an efficient representation framework, and its extension to 2D image representation enables lightweight, yet expressive modeling of…