相关论文: Object Gaussian for Monocular 6D Pose Estimation f…

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation due to its efficiency and high-fidelity rendering. 3DGS training requires a known camera pose for each input view, typically obtained by Structure-from-Motion (SfM)…

3D Gaussian Splatting (3DGS) has become a popular solution in SLAM due to its high-fidelity and real-time novel view synthesis performance. However, some previous 3DGS SLAM methods employ a differentiable rendering pipeline for tracking,…

Three-dimensional scene reconstruction from sparse-view satellite images is a long-standing and challenging task. While 3D Gaussian Splatting (3DGS) and its variants have recently attracted attention for its high efficiency, existing…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…

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…

We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…

Novel view synthesis for dynamic scenes is still a challenging problem in computer vision and graphics. Recently, Gaussian splatting has emerged as a robust technique to represent static scenes and enable high-quality and real-time novel…

Compared with previous 3D reconstruction methods like Nerf, recent Generalizable 3D Gaussian Splatting (G-3DGS) methods demonstrate impressive efficiency even in the sparse-view setting. However, the promising reconstruction performance of…

3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

3D Gaussian Splatting (3DGS) techniques have achieved satisfactory 3D scene representation. Despite their impressive performance, they confront challenges due to the limitation of structure-from-motion (SfM) methods on acquiring accurate…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

Low-resolution (LR) multi-view capture limits the fidelity of 3D Gaussian Splatting (3DGS). 3DGS super-resolution (SR) is therefore important, yet challenging because it must recover missing high-frequency details while enforcing cross-view…

Constructing a high-fidelity representation of the 3D scene using a monocular camera can enable a wide range of applications on mobile devices, such as micro-robots, smartphones, and AR/VR headsets. On these devices, memory is often limited…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

3D Gaussian splatting (3DGS) has demonstrated impressive performance in synthesizing high-fidelity novel views. Nonetheless, its effectiveness critically depends on the quality of the initialized point cloud. Specifically, achieving uniform…

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…