相关论文: Vision-Only Gaussian Splatting for Collaborative S…
This paper introduces Gaussian Spatial Transport (GST), a novel framework that leverages Gaussian splatting to facilitate transport from the probability measure in the image coordinate space to the annotation map. We propose a Gaussian…
This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…
Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…
Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected…
Implicit neural representation methods have shown impressive advancements in learning 3D scenes from unstructured in-the-wild photo collections but are still limited by the large computational cost of volumetric rendering. More recently, 3D…
Reconstructing semantic-aware 3D scenes from sparse views is a challenging yet essential research direction, driven by the demands of emerging applications such as virtual reality and embodied AI. Existing per-scene optimization methods…
Cooperative perception extends the perception capabilities of autonomous vehicles by enabling multi-agent information sharing via Vehicle-to-Everything (V2X) communication. Unlike traditional onboard sensors, V2X acts as a dynamic…
We present GaussExplorer, a framework for embodied exploration and reasoning built on 3D Gaussian Splatting (3DGS). While prior approaches to language-embedded 3DGS have made meaningful progress in aligning simple text queries with Gaussian…
We present F3DGS, a federated 3D Gaussian Splatting framework for decentralized multi-agent 3D reconstruction. Existing 3DGS pipelines assume centralized access to all observations, which limits their applicability in distributed robotic…
Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…
Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless,…
Many 3D scene editing tasks focus on modifying local regions rather than the entire scene, except for some global applications like style transfer, and in the context of 3D Gaussian Splatting (3DGS), where scenes are represented by a series…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI applications. However, most existing 3DGS methods operate in isolation, focusing on specific domains.…
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…
Recently, 3D Gaussian Spatting (3DGS) has gained widespread attention in Novel View Synthesis (NVS) due to the remarkable real-time rendering performance. However, the substantial cost of storage and transmission of vanilla 3DGS hinders its…
Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…
We present a novel framework for enhancing the visual fidelity and consistency of text-guided 3D Gaussian Splatting (3DGS) editing. Existing editing approaches face two critical challenges: inconsistent geometric reconstructions across…
Recent advancements in 3D Gaussian Splatting (3DGS) have made a significant impact on rendering and reconstruction techniques. Current research predominantly focuses on improving rendering performance and reconstruction quality using…
The efficient spatial allocation of primitives serves as the foundation of 3D Gaussian Splatting, as it directly dictates the synergy between representation compactness, reconstruction speed, and rendering fidelity. Previous solutions,…
In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…