Related papers: Efficient Sparse-to-Dense Visual Localization via …
Single-molecule localization microscopy (SMLM) surpasses the diffraction limit, achieving subcellular resolution. Traditional SMLM analysis methods often rely on point spread function (PSF) model fitting, limiting the application of complex…
Current 4D Gaussian frameworks for dynamic scene reconstruction deliver impressive visual fidelity and rendering speed, however, the inherent trade-off between storage costs and the ability to characterize complex physical motions…
In this study, we explore the challenge of efficiently representing scenes with a constrained number of Gaussians. Our analysis shifts from traditional graphics and 2D computer vision to the perspective of point clouds, highlighting the…
We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…
Large garages are ubiquitous yet intricate scenes that present unique challenges due to their monotonous colors, repetitive patterns, reflective surfaces, and transparent vehicle glass. Conventional Structure from Motion (SfM) methods for…
3D Gaussian splatting (3DGS) is an innovative rendering technique that surpasses the neural radiance field (NeRF) in both rendering speed and visual quality by leveraging an explicit 3D scene representation. Existing 3DGS approaches require…
3D Gaussian Splatting (3DGS) is a promising technique for 3D reconstruction, offering efficient training and rendering speeds, making it suitable for real-time applications.However, current methods require highly controlled environments (no…
Pose estimation plays a critical role in human-centered vision applications. However, it is difficult to deploy state-of-the-art HRNet-based pose estimation models on resource-constrained edge devices due to the high computational cost…
3D Gaussian Splatting (3DGS) has garnered significant attention due to its superior scene representation fidelity and real-time rendering performance, especially for dynamic 3D scene reconstruction (\textit{i.e.}, 4D reconstruction).…
Despite the advancements in deep learning for camera relocalization tasks, obtaining ground truth pose labels required for the training process remains a costly endeavor. While current weakly supervised methods excel in lightweight label…
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…
Recent approaches representing 3D objects and scenes using Gaussian splats show increased rendering speed across a variety of platforms and devices. While rendering such representations is indeed extremely efficient, storing and…
3D Gaussian Splatting (3DGS) enables efficient training and fast novel view synthesis in static environments. To address challenges posed by transient objects, distractor-free 3DGS methods have emerged and shown promising results when dense…
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…
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…
The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…
Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…
Rendering dynamic scenes from monocular videos is a crucial yet challenging task. The recent deformable Gaussian Splatting has emerged as a robust solution to represent real-world dynamic scenes. However, it often leads to heavily redundant…
Learning latent representations that capture both semantic and spatial information is central to efficient spatio-semantic reasoning. However, many existing approaches rely on implicit latent structures combined with dense feature maps or…
We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…