相关论文: GaussNav: Gaussian Splatting for Visual Navigation
Effective embodied exploration requires agents to accumulate and retain spatial knowledge over time. However, existing scene representations, such as discrete scene graphs or static view-based snapshots, lack \textit{post-hoc…
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…
We present a novel framework for animating humans in 3D scenes using 3D Gaussian Splatting (3DGS), a neural scene representation that has recently achieved state-of-the-art photorealistic results for novel-view synthesis but remains…
Novel view synthesis (NVS) through non-planar refractive surfaces presents fundamental challenges due to severe, spatially varying optical distortions. While recent representations like NeRF and 3D Gaussian Splatting (3DGS) excel at NVS,…
We present a novel approach for enhancing the resolution and geometric fidelity of 3D Gaussian Splatting (3DGS) beyond native training resolution. Current 3DGS methods are fundamentally limited by their input resolution, producing…
Spine surgery is a high-risk intervention demanding precise execution, often supported by image-based navigation systems. Recently, supervised learning approaches have gained attention for reconstructing 3D spinal anatomy from sparse…
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…
Gaussian Splatting demonstrates impressive results in multi-view reconstruction based on Gaussian explicit representations. However, the current Gaussian primitives only have a single view-dependent color and an opacity to represent the…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…
3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…
Recent advances in Gaussian Splatting-based inverse rendering extend Gaussian primitives with shading parameters and physically grounded light transport, enabling high-quality material recovery from dense multi-view captures. However, these…
Recently, map representations based on radiance fields such as 3D Gaussian Splatting and NeRF, which excellent for realistic depiction, have attracted considerable attention, leading to attempts to combine them with SLAM. While these…
While 3D Gaussian Splatting enables high-quality real-time rendering, existing Gaussian-based frameworks for 3D semantic segmentation still face significant challenges in boundary recognition accuracy. To address this, we propose a novel…
3D Gaussian Splatting has emerged as a very promising scene representation, achieving state-of-the-art quality in novel view synthesis significantly faster than competing alternatives. However, its use of spherical harmonics to represent…
Feed-forward 3D Gaussian Splatting methods have achieved impressive reconstruction quality for autonomous driving scenes, yet they entangle scene geometry with transient appearance properties such as lighting, weather, and time of day. This…
This paper describes the Qualcomm AI Research solution to the RealADSim-NVS challenge, hosted at the RealADSim Workshop at ICCV 2025. The challenge concerns novel view synthesis in street scenes, and participants are required to generate,…
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions unseen from the training views yield unreliable predictions…
Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…
High-fidelity 3D reconstruction is critical for aerial inspection tasks such as infrastructure monitoring, structural assessment, and environmental surveying. While traditional photogrammetry techniques enable geometric modeling, they lack…
Recent advances in leveraging large-scale Internet photo collections for 3D reconstruction have enabled immersive virtual exploration of landmarks and historic sites worldwide. However, little attention has been given to the immersive…