相关论文: ScrewSplat: An End-to-End Method for Articulated O…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
We investigate data augmentation for 3D object detection in autonomous driving. We utilize recent advancements in 3D reconstruction based on Gaussian Splatting for 3D object placement in driving scenes. Unlike existing diffusion-based…
Gaussian Splatting has achieved remarkable progress in multi-view surface reconstruction, yet it exhibits notable degradation when only few views are available. Although recent efforts alleviate this issue by enhancing multi-view…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…
In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…
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…
The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for…
We present GSEdit, a pipeline for text-guided 3D object editing based on Gaussian Splatting models. Our method enables the editing of the style and appearance of 3D objects without altering their main details, all in a matter of minutes on…
Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle…
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…
Articulated 3D objects are critical for embodied AI, robotics, and interactive scene understanding, yet creating simulation-ready assets remains labor-intensive and requires expert modeling of part hierarchies and motion structures. We…
Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language…
Open-vocabulary panoptic reconstruction is a challenging task for simultaneous scene reconstruction and understanding. Recently, methods have been proposed for 3D scene understanding based on Gaussian splatting. However, these methods are…
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…
Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose…
3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality…
Reconstructing articulated objects is essential for building digital twins of interactive environments. However, prior methods typically decouple geometry and motion by first reconstructing object shape in distinct states and then…
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…