相关论文: Generalizing Visual Geometry Priors to Sparse Gaus…
3D occupancy prediction has attracted much attention in the field of autonomous driving due to its powerful geometric perception and object recognition capabilities. However, existing methods have not explored the most essential…
We introduce GSVisLoc, a visual localization method designed for 3D Gaussian Splatting (3DGS) scene representations. Given a 3DGS model of a scene and a query image, our goal is to estimate the camera's position and orientation. We…
3D semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…
Driven by autonomous driving's demands for precise 3D perception, 3D semantic occupancy prediction has become a pivotal research topic. Unlike bird's-eye-view (BEV) methods, which restrict scene representation to a 2D plane, occupancy…
An object's geocentric pose, defined as the height above ground and orientation with respect to gravity, is a powerful representation of real-world structure for object detection, segmentation, and localization tasks using RGBD images. For…
Understanding and modeling the 3D scene from a single image is a practical problem. A recent advance proposes a panoptic 3D scene reconstruction task that performs both 3D reconstruction and 3D panoptic segmentation from a single image.…
General object composition (GOC) aims to seamlessly integrate a target object into a background scene with desired geometric properties, while simultaneously preserving its fine-grained appearance details. Recent approaches derive semantic…
Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…
3D scene reconstruction is fundamental for spatial intelligence applications such as AR, robotics, and digital twins. Traditional multi-view stereo struggles with sparse viewpoints or low-texture regions, while neural rendering approaches,…
Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…
Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…
3D Gaussian Splatting (3DGS) has emerged as a leading neural rendering technique for high-fidelity view synthesis, prompting the development of dedicated 3DGS accelerators for resource-constrained platforms. The conventional decoupled…
Constructing a high-fidelity representation of the 3D scene using a monocular camera can enable a wide range of applications on mobile devices, such as micro-robots, smartphones, and AR/VR headsets. On these devices, memory is often limited…
Encoding information from 2D views of an object into a 3D representation is crucial for generalized 3D feature extraction. Such features can then enable 3D reconstruction, 3D generation, and other applications. We propose GOEmbed (Gradient…
We propose an active learning approach to image segmentation that exploits geometric priors to speed up and streamline the annotation process. It can be applied for both background-foreground and multi-class segmentation tasks in 2D images…
Understanding open-vocabulary 3D scenes with Gaussian-based representations remains challenging due to fragmented and spatially inconsistent semantic predictions across multi-view observations. In this paper, we present OpenGaFF, a novel…
Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…
The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…
In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers' burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics…
Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…