Related papers: EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scen…
Accurate 3D reconstruction of colonoscopy data, accounting for complex peristaltic movements, is crucial for advanced surgical navigation and retrospective diagnostics. While recent novel view synthesis and 3D reconstruction methods have…
3D scene reconstruction from stereo endoscopic video data is crucial for advancing surgical interventions. In this work, we present an online framework for online, dense 3D scene reconstruction and tracking, aimed at enhancing surgical…
As 3D Gaussian Splatting (3DGS) emerges as a leading approach for novel view synthesis and scene reconstruction, its potential in digital asset creation has gained significant attention. An increasing number of asset libraries based on GS…
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…
Despite advances in physics-based 3D motion synthesis, current methods face key limitations: reliance on pre-reconstructed 3D Gaussian Splatting (3DGS) built from dense multi-view images with time-consuming per-scene optimization; physics…
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from computationally intensive processes like…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…
High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…
Dynamic scene reconstruction is a long-term challenge in the field of 3D vision. Recently, the emergence of 3D Gaussian Splatting has provided new insights into this problem. Although subsequent efforts rapidly extend static 3D Gaussian to…
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…
3D Gaussian Splatting (3DGS) enables high-fidelity real-time rendering, a key requirement for immersive applications. However, the extension of 3DGS to dynamic scenes remains limitations on the substantial data volume of dense Gaussians and…
In contemporary surgical research and practice, accurately comprehending 3D surgical scenes with text-promptable capabilities is particularly crucial for surgical planning and real-time intra-operative guidance, where precisely identifying…
Precisely perceiving the geometric and semantic properties of real-world 3D objects is crucial for the continued evolution of augmented reality and robotic applications. To this end, we present Foundation Model Embedded Gaussian Splatting…
3D Gaussian Splatting (GS) enables highly photorealistic scene reconstruction from posed image sequences but struggles with viewpoint extrapolation due to its anisotropic nature, leading to overfitting and poor generalization, particularly…
Real-time rendering of dynamic scenes with view-dependent effects remains a fundamental challenge in computer graphics. While recent advances in Gaussian Splatting have shown promising results separately handling dynamic scenes (4DGS) and…
3D Gaussian Splatting reconstructs scenes by starting from a sparse Structure-from-Motion initialization and refining under-reconstructed regions. This process is slow, as it requires multiple densification steps where Gaussians are…
Computer vision-based technologies significantly enhance surgical automation by advancing tool tracking, detection, and localization. However, Current data-driven approaches are data-voracious, requiring large, high-quality labeled image…
Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…