相关论文: GS-Pose: Generalizable Segmentation-based 6D Objec…

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Gaussian splatting (GS) along with its extensions and variants provides outstanding performance in real-time scene rendering while meeting reduced storage demands and computational efficiency. While the selection of 2D images capturing the…

This paper presents Planar Gaussian Splatting (PGS), a novel neural rendering approach to learn the 3D geometry and parse the 3D planes of a scene, directly from multiple RGB images. The PGS leverages Gaussian primitives to model the scene…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

3D Gaussian splatting (GS) has emerged as a transformative technique in radiance fields. Unlike mainstream implicit neural models, 3D GS uses millions of learnable 3D Gaussians for an explicit scene representation. Paired with a…

We present a novel method for 6-DoF object tracking and high-quality 3D reconstruction from monocular RGBD video. Existing methods, while achieving impressive results, often struggle with complex objects, particularly those exhibiting…

3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or…

This paper presents an efficient symmetry-agnostic and correspondence-free framework, referred to as SC6D, for 6D object pose estimation from a single monocular RGB image. SC6D requires neither the 3D CAD model of the object nor any prior…

The modeling and manipulation of 3D scenes captured from the real world are pivotal in various applications, attracting growing research interest. While previous works on editing have achieved interesting results through manipulating 3D…

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) has emerged as a core technique for 3D representation. Its effectiveness largely depends on precise camera poses and accurate point cloud initialization, which are often derived from pretrained Multi-View Stereo…

Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…

Despite the advancements in quality and efficiency achieved by 3D Gaussian Splatting (3DGS) in 3D scene rendering, aliasing artifacts remain a persistent challenge. Existing approaches primarily rely on low-pass filtering to mitigate…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Reconstructing objects from posed images is a crucial and complex task in computer graphics and computer vision. While NeRF-based neural reconstruction methods have exhibited impressive reconstruction ability, they tend to be…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…