相关论文: SemGS: Feed-Forward Semantic 3D Gaussian Splatting…
Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…
We present LangFlash, a feed-forward framework for 3D Language Gaussian Splatting that reconstructs 3D scenes parameterized by Gaussian primitives enriched with language-aligned semantic features from sparse unposed multi-view images.…
Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…
Reconstructing and understanding 3D scenes from unposed sparse views in a feed-forward manner remains as a challenging task in 3D computer vision. Recent approaches use per-pixel 3D Gaussian Splatting for reconstruction, followed by a…
Recent progress in feed-forward 3D Gaussian Splatting (3DGS) has notably improved rendering quality. However, the spatially uniform and highly redundant 3DGS map generated by previous feed-forward 3DGS methods limits their integration into…
This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…
Recent advances in 3D Gaussian Splatting have shown remarkable potential for novel view synthesis. However, most existing large-scale scene reconstruction methods rely on the divide-and-conquer paradigm, which often leads to the loss of…
3D Gaussian Splatting (3DGS) has demonstrated impressive performance in 3D scene reconstruction. Beyond novel view synthesis, it shows great potential for multi-view surface reconstruction. Existing methods employ optimization-based…
Generalizable 3D Gaussian Splatting reconstruction showcases advanced Image-to-3D content creation but requires substantial computational resources and large datasets, posing challenges to training models from scratch. Current methods…
Semantic scene understanding allows a robotic agent to reason about problems in complex ways, using information from multiple and varied sensors to make deductions about a particular matter. As a result, this form of intelligent robotics is…
Open-vocabulary scene understanding using 3D Gaussian (3DGS) representations has garnered considerable attention. However, existing methods mostly lift knowledge from large 2D vision models into 3DGS on a scene-by-scene basis, restricting…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Scene graphs provide valuable information to many downstream tasks. Many scene graph generation (SGG) models solely use the limited annotated relation triples for training, leading to their underperformance on low-shot (few and zero)…
3D Gaussian Splatting (3DGS) has shown promising performance in novel view synthesis. Previous methods adapt it to obtaining surfaces of either individual 3D objects or within limited scenes. In this paper, we make the first attempt to…
3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…
3D Gaussian Splatting (GS) enables highly photorealistic scene reconstruction from posed image sequences but struggles with viewpoint extrapolation due to its anisotropic nature, leading to overfitting and poor generalization, particularly…
In this paper, we propose a novel semantic splatting approach based on Gaussian Splatting to achieve efficient and low-latency. Our method projects the RGB attributes and semantic features of point clouds onto the image plane,…
Recent advancements in 3D Gaussian Splatting (3D-GS) have demonstrated the potential of using 3D Gaussian primitives for high-speed, high-fidelity, and cost-efficient novel view synthesis from continuously calibrated input views. However,…
Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…
This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…