相关论文: GaussNav: Gaussian Splatting for Visual Navigation

3D Gaussian splatting (3DGS) is an emerging technique for photorealistic 3D scene rendering. However, rendering city-scale 3DGS scenes on resource-constrained mobile devices in real-time remains a significant challenge due to two…

In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…

High dynamic range (HDR) novel view synthesis (NVS) aims to reconstruct HDR scenes by leveraging multi-view low dynamic range (LDR) images captured at different exposure levels. Current training paradigms with 3D tone mapping often result…

Single-image 3D scene reconstruction presents significant challenges due to its inherently ill-posed nature and limited input constraints. Recent advances have explored two promising directions: multiview generative models that train on 3D…

The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…

The field of novel view synthesis from images has seen rapid advancements with the introduction of Neural Radiance Fields (NeRF) and more recently with 3D Gaussian Splatting. Gaussian Splatting became widely adopted due to its efficiency…

Gaussian splatting has emerged as a powerful 3D representation that harnesses the advantages of both explicit (mesh) and implicit (NeRF) 3D representations. In this paper, we seek to leverage Gaussian splatting to generate realistic…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis. However, existing methods struggle to adaptively optimize the distribution of Gaussian primitives based on scene characteristics, making it…

We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…

We propose a 3D novel sparse-view synthesis framework for unconstrained real-world scenarios that contain distractors. Unlike existing methods that primarily perform novel-view synthesis from a sparse set of constrained images without…

Global Positioning Systems (GPS) have played a crucial role in various navigation applications. Nevertheless, localizing the perfect destination within the last few meters remains an important but unresolved problem. Limited by the GPS…

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…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language…

Recently, reconstructing scenes from a single panoramic image using advanced 3D Gaussian Splatting (3DGS) techniques has attracted growing interest. Panoramic images offer a 360$\times$ 180 field of view (FoV), capturing the entire scene in…

This research tackles the challenge of real-time active view selection and uncertainty quantification on visual quality for active 3D reconstruction. Visual quality is a critical aspect of 3D reconstruction. Recent advancements such as…

Establishing dense correspondence across 3D shapes is crucial for fundamental downstream tasks, including texture transfer, shape interpolation, and robotic manipulation. However, learning these mappings without manual supervision remains a…

Despite significant progress in Vision-Language Navigation (VLN), existing approaches still rely on dense RGB videos that produce excessive patch tokens and lack explicit spatial structure, resulting in substantial computational overhead…

Bird's-Eye-View (BEV) representation has emerged as a mainstream paradigm for multi-view 3D object detection, demonstrating impressive perceptual capabilities. However, existing methods overlook the geometric quality of BEV representation,…

3D Gaussian inpainting, a critical technique for numerous applications in virtual reality and multimedia, has made significant progress with pretrained diffusion models. However, ensuring multi-view consistency, an essential requirement for…