相关论文: CaRtGS: Computational Alignment for Real-Time Gaus…

Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…

Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time…

Three-dimensional target reconstruction from synthetic aperture radar (SAR) imagery is crucial for interpreting complex scattering information in SAR data. However, the intricate electromagnetic scattering mechanisms inherent to SAR imaging…

Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…

Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…

While Dynamic Gaussian Splatting enables high-fidelity 4D reconstruction, its deployment is severely hindered by a fundamental dilemma: unconstrained densification leads to excessive memory consumption incompatible with edge devices,…

This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…

Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…

Real-time rendering of dynamic scenes with view-dependent effects remains a fundamental challenge in computer graphics. While recent advances in Gaussian Splatting have shown promising results separately handling dynamic scenes (4DGS) and…

The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sensitivity to artifacts and noise, suboptimal selection of…

In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…

3D Gaussian Splatting (3DGS) has emerged as a novel explicit representation for 3D scenes, offering both high-fidelity reconstruction and efficient rendering. However, 3DGS lacks 3D segmentation ability, which limits its applicability in…

Thermal cameras offer several advantages for simultaneous localization and mapping (SLAM) with mobile robots: they provide a passive, low-power solution to operating in darkness, are invariant to rapidly changing or high dynamic range…

We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…

3D Gaussian Splatting (3DGS) has shown promising performance in novel view synthesis. Previous methods adapt it to obtaining surfaces of either individual 3D objects or within limited scenes. In this paper, we make the first attempt to…

3D Gaussian Splatting (3DGS) leverages densely distributed Gaussian primitives for high-quality scene representation and reconstruction. While existing 3DGS methods perform well in scenes with minor view variation, large view changes from…

This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP…

Recent advances in 3D Gaussian Splatting have shown remarkable potential for novel view synthesis. However, most existing large-scale scene reconstruction methods rely on the divide-and-conquer paradigm, which often leads to the loss of…

3D Gaussian Splatting (3DGS) has recently emerged as a pioneering approach in explicit scene rendering and computer graphics. Unlike traditional neural radiance field (NeRF) methods, which typically rely on implicit, coordinate-based models…