相关论文: Immersive Teleoperation Framework for Locomanipula…

We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…

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…

Recently, 3D Gaussian splatting has gained attention for its capability to generate high-fidelity rendering results. At the same time, most applications such as games, animation, and AR/VR use mesh-based representations to represent and…

We introduce Ilov3Splat, a novel framework for instance-level open-vocabulary 3D scene understanding built on 3D Gaussian Splatting (3D-GS). Most prior work depends on 2D rendering-based matching or point-level semantic association, which…

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…

An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…

Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…

We present a novel-view rendering algorithm, Mode-GS, for ground-robot trajectory datasets. Our approach is based on using anchored Gaussian splats, which are designed to overcome the limitations of existing 3D Gaussian splatting…

Realizing low-cost communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images through wireless channels. This paper proposes Gaussian splatting (GS) RoboMR (GSMR),…

Capturing 4D spatiotemporal surroundings is crucial for the safe and reliable operation of robots in dynamic environments. However, most existing methods address only one side of the problem: they either provide coarse geometric tracking…

In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D…

Novel view synthesis of urban scenes is essential for autonomous driving-related applications.Existing NeRF and 3DGS-based methods show promising results in achieving photorealistic renderings but require slow, per-scene optimization. We…

Robot assisted endoluminal intervention is an emerging technique for both benign and malignant luminal lesions. With vision-based navigation, when combined with pre-operative imaging data as priors, it is possible to recover position and…

Realistic reconstruction of dynamic 4D scenes from monocular videos is essential for understanding the physical world. Despite recent progress in neural rendering, existing methods often struggle to recover accurate 3D geometry and…

Open-vocabulary querying in 3D space is crucial for enabling more intelligent perception in applications such as robotics, autonomous systems, and augmented reality. However, most existing methods rely on 2D pixel-level parsing, leading to…

In medical image visualization, path tracing of volumetric medical data like CT scans produces lifelike three-dimensional visualizations. Immersive VR displays can further enhance the understanding of complex anatomies. Going beyond the…

The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual information from the remote area is using cameras to transmit a…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…

For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…