Related papers: GSMem: 3D Gaussian Splatting as Persistent Spatial…

Semantic-aware 3D reconstruction from sparse, unposed images remains challenging for feed-forward 3D Gaussian Splatting (3DGS). Existing methods often predict an over-complete set of Gaussian primitives under sparse-view supervision,…

Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…

Bridging the gap between complex human instructions and precise 3D object grounding remains a significant challenge in vision and robotics. Existing 3D segmentation methods often struggle to interpret ambiguous, reasoning-based…

3D Visual Grounding (3DVG) aims to localize target objects within a 3D scene based on natural language queries. To alleviate the reliance on costly 3D training data, recent studies have explored zero-shot 3DVG by leveraging the extensive…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

3D Gaussian Splatting represents a breakthrough in the field of novel view synthesis. It establishes Gaussians as core rendering primitives for highly accurate real-world environment reconstruction. Recent advances have drastically…

3D Gaussian Splatting (3DGS) has emerged as a powerful explicit representation enabling real-time, high-fidelity 3D reconstruction and novel view synthesis. However, its practical use is hindered by the massive memory and computational…

Simultaneous Localization and Mapping (SLAM) is a critical task that enables autonomous vehicles to construct maps and localize themselves in unknown environments. Recent breakthroughs combine SLAM with 3D Gaussian Splatting (3DGS) to…

Deploying Multimodal Large Language Models as the brain of embodied agents remains challenging, particularly under long-horizon observations and limited context budgets. Existing memory assisted methods often rely on textual summaries,…

Visual search in 3D environments requires embodied agents to actively explore their surroundings and acquire task-relevant evidence. However, existing visual search and embodied AI benchmarks, including EQA, typically rely on static…

Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suffer from fragile instance association due to incomplete…

3D Gaussian Splatting (GS) significantly struggles to accurately represent the underlying 3D scene geometry, resulting in inaccuracies and floating artifacts when rendering depth maps. In this paper, we address this limitation, undertaking…

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…

Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle to achieve. However, existing GS-SLAM systems perform poorly…

We introduce GaussianZoom, a generative zoom-in 3D reconstruction system with an iterative progressive framework that combines geometry-consistent scene modeling and multi-scale semantic reasoning to enable high-fidelity extreme zoom-in…

Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…

Embodied 3D Semantic Scene Completion (SSC) infers dense geometry and semantics from continuous egocentric observations. Most existing Gaussian-based methods rely on random initialization of many primitives within predefined spatial bounds,…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…