相关论文: Semantic Foam: Unifying Spatial and Semantic Scene…
The recent advancements in 3D Gaussian Splatting (3DGS) have demonstrated remarkable potential in novel view synthesis tasks. The divide-and-conquer paradigm has enabled large-scale scene reconstruction, but significant challenges remain in…
The recent Gaussian Splatting achieves high-quality and real-time novel-view synthesis of the 3D scenes. However, it is solely concentrated on the appearance and geometry modeling, while lacking in fine-grained object-level scene…
Advancements in 3D rendering like Gaussian Splatting (GS) allow novel view synthesis and real-time rendering in virtual reality (VR). However, GS-created 3D environments are often difficult to edit. For scene enhancement or to incorporate…
3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…
The field of novel-view synthesis has recently witnessed the emergence of 3D Gaussian Splatting, which represents scenes in a point-based manner and renders through rasterization. This methodology, in contrast to Radiance Fields that rely…
Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…
Bridging natural language and 3D geometry is a crucial step toward flexible, language-driven scene understanding. While recent advances in 3D Gaussian Splatting (3DGS) have enabled fast and high-quality scene reconstruction, research has…
Recent advances in feed-forward 3D Gaussian Splatting have led to rapid improvements in efficient scene reconstruction from sparse views. However, most existing approaches construct Gaussian primitives directly aligned with the pixels in…
We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…
3D Gaussian Splatting (3DGS) has shown remarkable success in synthesizing novel views given multiple views of a static scene. Yet, 3DGS faces challenges when applied to dynamic scenes because 3D Gaussian parameters need to be updated per…
Radiance Field methods have recently revolutionized novel-view synthesis of scenes captured with multiple photos or videos. However, achieving high visual quality still requires neural networks that are costly to train and render, while…
The semantic segmentation task aims at dense classification at the pixel-wise level. Deep models exhibited progress in tackling this task. However, one remaining problem with these approaches is the loss of spatial precision, often produced…
3D occupancy prediction is critical for comprehensive scene understanding in vision-centric autonomous driving. Recent advances have explored utilizing 3D semantic Gaussians to model occupancy while reducing computational overhead, but they…
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…
Dynamic 3D scene representation and novel view synthesis are crucial for enabling immersive experiences required by AR/VR and metaverse applications. It is a challenging task due to the complexity of unconstrained real-world scenes and…
We present a novel approach for 3D indoor scene reconstruction that combines 3D Gaussian Splatting (3DGS) with mesh representations. We use meshes for the room layout of the indoor scene, such as walls, ceilings, and floors, while employing…
We present latentSplat, a method to predict semantic Gaussians in a 3D latent space that can be splatted and decoded by a light-weight generative 2D architecture. Existing methods for generalizable 3D reconstruction either do not scale to…
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…