相关论文: FastLGS: Speeding up Language Embedded Gaussians w…

The semantically interactive radiance field has long been a promising backbone for 3D real-world applications, such as embodied AI to achieve scene understanding and manipulation. However, multi-granularity interaction remains a challenging…

3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features…

Recently, several studies have combined Gaussian Splatting to obtain scene representations with language embeddings for open-vocabulary 3D scene understanding. While these methods perform well, they essentially require very dense multi-view…

3D Gaussian Splatting has recently gained traction for its efficient training and real-time rendering. While its vanilla representation is mainly designed for view synthesis, recent works extended it to scene understanding with language…

The primary focus of most recent works on open-vocabulary neural fields is extracting precise semantic features from the VLMs and then consolidating them efficiently into a multi-view consistent 3D neural fields representation. However,…

Precisely perceiving the geometric and semantic properties of real-world 3D objects is crucial for the continued evolution of augmented reality and robotic applications. To this end, we present Foundation Model Embedded Gaussian Splatting…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Exploiting 3D Gaussian Splatting (3DGS) with Contrastive Language-Image Pre-Training (CLIP) models for open-vocabulary 3D semantic understanding of indoor scenes has emerged as an attractive research focus. Existing methods typically attach…

3D semantic field learning is crucial for applications like autonomous navigation, AR/VR, and robotics, where accurate comprehension of 3D scenes from limited viewpoints is essential. Existing methods struggle under sparse view conditions,…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled Simultaneous Localization and Mapping (SLAM) systems to build photorealistic maps. However, these maps lack the open-vocabulary semantic understanding required for advanced…

Embedding a language field in a 3D representation enables richer semantic understanding of spatial environments by linking geometry with descriptive meaning. This allows for a more intuitive human-computer interaction, enabling querying or…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

Injecting semantics into 3D Gaussian Splatting (3DGS) has recently garnered significant attention. While current approaches typically distill 3D semantic features from 2D foundational models (e.g., CLIP and SAM) to facilitate novel view…

3D scene representations have gained immense popularity in recent years. Methods that use Neural Radiance fields are versatile for traditional tasks such as novel view synthesis. In recent times, some work has emerged that aims to extend…

To enable AI agents to interact seamlessly with both humans and 3D environments, they must not only perceive the 3D world accurately but also align human language with 3D spatial representations. While prior work has made significant…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…

Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to achieve the real-time inference frequency…

In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…

Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of these scenarios are time-sensitive, requiring rapid scene encoding while also…