相关论文: GSMap: 2D Gaussians for Online HD Mapping

We propose a theoretical framework that generalizes simple and fast algorithms for hierarchical agglomerative clustering to weighted graphs with both attractive and repulsive interactions between the nodes. This framework defines GASP, a…

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…

3D Gaussian Splatting (3DGS) enables photorealistic rendering but suffers from artefacts due to sparse Structure-from-Motion (SfM) initialisation. To address this limitation, we propose GP-GS, a Gaussian Process (GP) based densification…

Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent…

Although 3D Gaussian Splatting (3DGS) has recently made progress in 3D human reconstruction, it primarily relies on 2D pixel-level supervision, overlooking the geometric complexity and topological relationships of different body parts. To…

We present a real-time method for robust estimation of multiple instances of geometric models from noisy data. Geometric models such as vanishing points, planar homographies or fundamental matrices are essential for 3D scene analysis.…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for generating photorealistic renderings of a scene in real-time. However, the volumetric nature of 3DGS limits its ability to accurately capture surface geometry. To address…

Geometry problem solving (GPS) represents a critical frontier in artificial intelligence, with profound applications in education, computer-aided design, and computational graphics. Despite its significance, automating GPS remains…

3D Gaussian Splatting (3DGS) has emerged as a real-time, differentiable representation for neural scene understanding. However, existing 3DGS-based methods struggle to represent hierarchical 3D semantic structures and capture whole-part…

3D Gaussian Splatting (3DGS) has attracted great attention in novel view synthesis because of its superior rendering efficiency and high fidelity. However, the trained Gaussians suffer from severe zooming degradation due to non-adjustable…

Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…

Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…

Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its…

Machine learning has been progressively generalised to operate within non-Euclidean domains, but geometrically accurate methods for learning on surfaces are still falling behind. The lack of closed-form Riemannian operators, the…

This paper presents a novel paradigm in simulation-based engineering sciences by introducing a new framework called Generative Parametric Design (GPD). The GPD framework enables the generation of new designs along with their corresponding…

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian…

Reconstructing high-quality 3D meshes and visuals from 3D Gaussian Splatting(3DGS) still remains a central challenge in computer graphics. Although existing models such as SuGaR offer effective solutions for rendering, there is is still…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…

The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…