相关论文: PEGASUS: Physically Enhanced Gaussian Splatting Si…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

We propose WildSplatter, a feed-forward 3D Gaussian Splatting (3DGS) model for unconstrained images with unknown camera parameters and varying lighting conditions. 3DGS is an effective scene representation that enables high-quality,…

The emergence of 3D Gaussian Splatting (3DGS) has greatly accelerated the rendering speed of novel view synthesis. Unlike neural implicit representations like Neural Radiance Fields (NeRF) that represent a 3D scene with position and…

Reconstructing a 3D scene from images is challenging due to the different ways light interacts with surfaces depending on the viewer's position and the surface's material. In classical computer graphics, materials can be classified as…

Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstructured and irregular nature of Gaussian point clouds, it is…

We present GP-4DGS, a novel framework that integrates Gaussian Processes (GPs) into 4D Gaussian Splatting (4DGS) for principled probabilistic modeling of dynamic scenes. While existing 4DGS methods focus on deterministic reconstruction,…

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction,…

The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…

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…

3D Gaussian Splatting (3DGS) enables high-quality real-time 3D rendering but faces challenges in efficiently scaling to ultra-dense scenes and high-resolution due to computational bottlenecks that limit its use in latency-sensitive…

Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and…

Surgical simulation is essential for medical training, enabling practitioners to develop crucial skills in a risk-free environment while improving patient safety and surgical outcomes. However, conventional methods for building simulation…

Physical simulation predicts future states of objects based on material properties and external loads, enabling blueprints for both Industry and Engineering to conduct risk management. Current 3D reconstruction-based simulators typically…

Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…

Rendering realistic human-object interactions (HOIs) from sparse-view inputs is a challenging yet crucial task for various real-world applications. Existing methods often struggle to simultaneously achieve high rendering quality, physical…

Recent advances in 3D scene representations have enabled high-fidelity novel view synthesis, yet adapting to discrete scene changes and constructing interactive 3D environments remain open challenges in vision and robotics. Existing…

Feedforward 3D Gaussian Splatting (3DGS) overcomes the limitations of optimization-based 3DGS by enabling fast and high-quality reconstruction without the need for per-scene optimization. However, existing feedforward approaches typically…

We present a new approach, termed GPS-Gaussian, for synthesizing novel views of a character in a real-time manner. The proposed method enables 2K-resolution rendering under a sparse-view camera setting. Unlike the original Gaussian…

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…