Related papers: LSGS-Loc: Towards Robust 3DGS-Based Visual Localiz…
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…
Visual relocalization is a fundamental task in the field of 3D computer vision, estimating a camera's pose when it revisits a previously known scene. While point-based hierarchical relocalization methods have shown strong scalability and…
In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to render a synthetic RGBD image at some initial pose estimate.…
3D Gaussian Splatting (3DGS) has become a state-of-the-art framework for real-time, high-fidelity novel view synthesis. However, its substantial storage requirements and inherently unstructured representation pose challenges for deployment…
Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent ability in small-scale 3D surface reconstruction. However, extending 3DGS to large-scale scenes remains a significant challenge. To address this gap, we propose a novel…
3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…
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…
Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with feature-based localization. These methods rely on direct matching…
3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization…
Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…
3D Gaussian Splatting (3DGS) achieves high-fidelity rendering with fast real-time performance, but existing methods rely on offline training after full Structure-from-Motion (SfM) processing. In contrast, this work introduces Gaussian…
3D Gaussian Splatting (3DGS) has established itself as an efficient representation for real-time, high-fidelity 3D scene reconstruction. However, scaling 3DGS to large and unbounded scenes such as city blocks remains difficult. Existing…
Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…
3D Gaussian splatting (3DGS) has demonstrated impressive performance in synthesizing high-fidelity novel views. Nonetheless, its effectiveness critically depends on the quality of the initialized point cloud. Specifically, achieving uniform…
3D Gaussian Splatting (3DGS) enables the reconstruction of intricate digital 3D assets from multi-view images by leveraging a set of 3D Gaussian primitives for rendering. Its explicit and discrete representation facilitates the seamless…