相关论文: OpenGaFF: Open-Vocabulary Gaussian Feature Field w…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

The semantically interactive radiance field has always been an appealing task for its potential to facilitate user-friendly and automated real-world 3D scene understanding applications. However, it is a challenging task to achieve high…

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,…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

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…

3D scene stylization extends the work of neural style transfer to 3D. A vital challenge in this problem is to maintain the uniformity of the stylized appearance across multiple views. A vast majority of the previous works achieve this by…

3D semantic segmentation provides high-level scene understanding for applications in robotics, autonomous systems, \textit{etc}. Traditional methods adapt exclusively to either task-specific goals (open-vocabulary segmentation) or scene…

Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

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…

3D scene representations have gained immense popularity in recent years. Methods that use Neural Radiance fields are versatile for traditional tasks such as novel view synthesis. In recent times, some work has emerged that aims to extend…

Articulated objects are ubiquitous in daily environments, and their 3D reconstruction holds great significance across various fields. However, existing articulated object reconstruction methods typically require costly inputs such as…

Language-guided 3D scene understanding is important for advancing applications in robotics, AR/VR, and human-computer interaction, enabling models to comprehend and interact with 3D environments through natural language. While 2D…

Recently, 3D Gaussian Splatting has emerged as a promising approach for modeling 3D scenes using mixtures of Gaussians. The predominant optimization method for these models relies on backpropagating gradients through a differentiable…

We propose a neural regularization method that refines the noisy 3D semantic field produced by lifting multi-view inconsistent 2D features, in order to obtain an accurate and robust 3D semantic Gaussian Splatting. The 2D features extracted…

3D Gaussian Splatting (3DGS) techniques have achieved satisfactory 3D scene representation. Despite their impressive performance, they confront challenges due to the limitation of structure-from-motion (SfM) methods on acquiring accurate…

In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…

3D Gaussian Splatting (3DGS) has recently emerged as a state-of-the-art 3D reconstruction and rendering technique due to its high-quality results and fast training and rendering time. However, pixels covered by the same Gaussian are always…

We present a one-shot LiDAR global localization algorithm featuring semantic disambiguation ability based on a lightweight tri-layered scene graph. While landmark semantic registration-based methods have shown promising performance…