相关论文: ActiveSplat: High-Fidelity Scene Reconstruction th…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations,…
Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
Gaussian splatting (GS) along with its extensions and variants provides outstanding performance in real-time scene rendering while meeting reduced storage demands and computational efficiency. While the selection of 2D images capturing the…
Autonomous high-fidelity object reconstruction is fundamental for creating digital assets and bridging the simulation-to-reality gap in robotics. We present ObjSplat, an active reconstruction framework that leverages Gaussian surfels as a…
Reconstructing intricate, ever-changing environments remains a central ambition in computer vision, yet existing solutions often crumble before the complexity of real-world dynamics. We present DynaSplat, an approach that extends Gaussian…
Topology-consistent dynamic model sequences are essential for applications such as animation and model editing. However, existing 4D reconstruction methods face challenges in generating high-quality topology-consistent meshes. To address…
Reconstructing 3D scenes from multiple viewpoints is a fundamental task in stereo vision. Recently, advances in generalizable 3D Gaussian Splatting have enabled high-quality novel view synthesis for unseen scenes from sparse input views by…
Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in…
Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…
We present ViewSplat, a view-adaptive 3D Gaussian splatting network for novel view synthesis from unposed images. While recent feed-forward 3D Gaussian splatting has significantly accelerated 3D scene reconstruction by bypassing per-scene…
The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…
Reconstructing large-scale dynamic driving scenes remains challenging due to the coexistence of static environments with extreme depth variation and diverse dynamic actors exhibiting complex motions. Existing Gaussian Splatting based…
Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…
3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient…
Reconstructing 3D scenes from sparse viewpoints is a long-standing challenge with wide applications. Recent advances in feed-forward 3D Gaussian sparse-view reconstruction methods provide an efficient solution for real-time novel view…
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…
Recent advancements in 3D Gaussian Splatting (3DGS) have demonstrated its potential for efficient and photorealistic 3D reconstructions, which is crucial for diverse applications such as robotics and immersive media. However, current…
We present a framework that enables fast reconstruction and real-time rendering of urban-scale scenes while maintaining robustness against appearance variations across multi-view captures. Our approach begins with scene partitioning for…