相关论文: High-Fidelity Simulated Data Generation for Real-W…
3D Gaussian Splatting (3DGS) has recently gained popularity for efficient scene rendering by representing scenes as explicit sets of anisotropic 3D Gaussians. However, most existing work focuses primarily on modeling external surfaces. In…
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for…
Recent advancements in dynamic 3D scene reconstruction have shown promising results, enabling high-fidelity 3D novel view synthesis with improved temporal consistency. Among these, 4D Gaussian Splatting (4DGS) has emerged as an appealing…
Despite advances in physics-based 3D motion synthesis, current methods face key limitations: reliance on pre-reconstructed 3D Gaussian Splatting (3DGS) built from dense multi-view images with time-consuming per-scene optimization; physics…
Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural…
Recently, 3D Gaussian Splatting and its derivatives have achieved significant breakthroughs in large-scale scene reconstruction. However, how to efficiently and stably achieve high-quality geometric fidelity remains a core challenge. To…
While 3D Gaussian Splatting (3DGS) achieves real-time photorealistic rendering, its performance degrades significantly when training images contain transient objects that violate multi-view consistency. Existing methods face a circular…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Reconstructing objects from posed images is a crucial and complex task in computer graphics and computer vision. While NeRF-based neural reconstruction methods have exhibited impressive reconstruction ability, they tend to be…
Gaussian Splatting has revolutionized the world of novel view synthesis by achieving high rendering performance in real-time. Recently, studies have focused on enriching these 3D representations with semantic information for downstream…
3D Gaussian Splatting (3DGS) achieves high-fidelity rendering with fast real-time performance, but existing methods rely on offline training after full Structure-from-Motion (SfM) processing. In contrast, this work introduces Gaussian…
Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS),…
The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…
In-the-wild photo collections often contain limited volumes of imagery and exhibit multiple appearances, e.g., taken at different times of day or seasons, posing significant challenges to scene reconstruction and novel view synthesis.…
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…
Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…
Computer vision-based technologies significantly enhance surgical automation by advancing tool tracking, detection, and localization. However, Current data-driven approaches are data-voracious, requiring large, high-quality labeled image…
3D Gaussian Splatting (3DGS) has demonstrated impressive performance in scene reconstruction. However, most existing GS-based surface reconstruction methods focus on 3D objects or limited scenes. Directly applying these methods to…
The advent of 3D Gaussian Splatting (3D-GS) techniques and their dynamic scene modeling variants, 4D-GS, offers promising prospects for real-time rendering of dynamic surgical scenarios. However, the prerequisite for modeling dynamic scenes…
3D reconstruction and simulation, although interrelated, have distinct objectives: reconstruction requires a flexible 3D representation that can adapt to diverse scenes, while simulation needs a structured representation to model motion…