相关论文: DeformGS: Scene Flow in Highly Deformable Scenes f…

Generating high-quality novel view renderings of 3D Gaussian Splatting (3DGS) in scenes featuring transient objects is challenging. We propose a novel hybrid representation, termed as HybridGS, using 2D Gaussians for transient objects per…

Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…

3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic applications. However, 3DGS-based methods in robotics…

Dynamic Gaussian Splatting approaches have achieved remarkable performance for 4D scene reconstruction. However, these approaches rely on dense-frame video sequences for photorealistic reconstruction. In real-world scenarios, due to…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical outcomes. However, existing methods primarily focus on…

Tracking and manipulating irregularly-shaped, previously unseen objects in dynamic environments is important for robotic applications in manufacturing, assembly, and logistics. Recently introduced Gaussian Splats efficiently model object…

In real-world scenarios, environment changes caused by human or agent activities make it extremely challenging for robots to perform various long-term tasks. Recent works typically struggle to effectively understand and adapt to dynamic…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…

In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Transient objects in video sequences can significantly degrade the quality of 3D scene reconstructions. To address this challenge, we propose T-3DGS, a novel framework that robustly filters out transient distractors during 3D reconstruction…

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…

Capturing and re-animating the 3D structure of articulated objects present significant barriers. On one hand, methods requiring extensively calibrated multi-view setups are prohibitively complex and resource-intensive, limiting their…

In the domain of 3D scene representation, 3D Gaussian Splatting (3DGS) has emerged as a pivotal technology. However, its application to large-scale, high-resolution scenes (exceeding 4k$\times$4k pixels) is hindered by the excessive…

We have recently seen great progress in 3D scene reconstruction through explicit point-based 3D Gaussian Splatting (3DGS), notable for its high quality and fast rendering speed. However, reconstructing dynamic scenes such as complex human…

3D Gaussian Splatting (3DGS) has revolutionized 3D scene reconstruction, which effectively balances rendering quality, efficiency, and speed. However, existing 3DGS approaches usually generate plausible outputs and face significant…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

3D Gaussian splatting (3DGS) offers the capability to achieve real-time high quality 3D scene rendering. However, 3DGS assumes that the scene is in a clear medium environment and struggles to generate satisfactory representations in…

Deformable convolution, originally proposed for the adaptation to geometric variations of objects, has recently shown compelling performance in aligning multiple frames and is increasingly adopted for video super-resolution. Despite its…