相关论文: GraspSplats: Efficient Manipulation with 3D Featur…

In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently risen to prominence…

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…

Implicit Neural Representation for Videos (NeRV) has introduced a novel paradigm for video representation and compression, outperforming traditional codecs. As model size grows, however, slow encoding and decoding speed and high memory…

We propose VideoRFSplat, a direct text-to-3D model leveraging a video generation model to generate realistic 3D Gaussian Splatting (3DGS) for unbounded real-world scenes. To generate diverse camera poses and unbounded spatial extent of…

In recent years, neural rendering methods such as NeRFs and 3D Gaussian Splatting (3DGS) have made significant progress in scene reconstruction and novel view synthesis. However, they heavily rely on preprocessed camera poses and 3D…

The field of computer graphics was revolutionized by models such as Neural Radiance Fields and 3D Gaussian Splatting, displacing triangles as the dominant representation for photogrammetry. In this paper, we argue for a triangle comeback.…

Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…

We leverage increasingly popular three-dimensional neural representations in order to construct a unified and consistent explanation of a collection of uncalibrated images of the human face. Our approach utilizes Gaussian Splatting, since…

In this paper, we provide a comprehensive overview of existing scene representation methods for robotics, covering traditional representations such as point clouds, voxels, signed distance functions (SDF), and scene graphs, as well as more…

Although 3D Gaussian Splatting (3D-GS) achieves efficient rendering for novel view synthesis, extending it to dynamic scenes still results in substantial memory overhead from replicating Gaussians across frames. To address this challenge,…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

3D Gaussian Splatting (3D-GS) has emerged as a significant advancement in the field of Computer Graphics, offering explicit scene representation and novel view synthesis without the reliance on neural networks, such as Neural Radiance…

3D Gaussian Splatting has shown fast and high-quality rendering results in static scenes by leveraging dense 3D prior and explicit representations. Unfortunately, the benefits of the prior and representation do not involve novel view…

Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for…

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…

Geospatial sensor data is essential for modern defense and security, offering indispensable 3D information for situational awareness. This data, gathered from sources like lidar sensors and optical cameras, allows for the creation of…

3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…

Recently many techniques have emerged to create high quality 3D assets and scenes. When it comes to editing of these objects, however, existing approaches are either slow, compromise on quality, or do not provide enough customization. We…

Neural Radiance Fields (NeRFs) have demonstrated remarkable proficiency in synthesizing photorealistic images of large-scale scenes. However, they are often plagued by a loss of fine details and long rendering durations. 3D Gaussian…

Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…