相关论文: Efficient Sparse-to-Dense Visual Localization via …
Visual Floorplan Localization (FLoc) struggles with severe structural aliasing caused by repetitive minimalist layouts. This occurs because physically distant poses share highly similar visual-geometric features, which degrades spatial…
Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…
In this work, we present a novel level-of-detail (LOD) method for 3D Gaussian Splatting that enables real-time rendering of large-scale scenes on memory-constrained devices. Our approach introduces a hierarchical LOD representation that…
3D Gaussian Splatting (3DGS) enables high-quality rendering of 3D scenes and is getting increasing adoption in domains like autonomous driving and embodied intelligence. However, 3DGS still faces major efficiency challenges when faced with…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…
Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…
Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…
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…
We present a novel method for efficiently producing semi-dense matches across images. Previous detector-free matcher LoFTR has shown remarkable matching capability in handling large-viewpoint change and texture-poor scenarios but suffers…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
3D Gaussian Splatting (3DGS) has demonstrated breakthrough performance in novel view synthesis and real-time rendering. Nevertheless, its practicality is constrained by the high memory cost due to a huge number of Gaussian points. Many…
Gaussian splatting, renowned for its exceptional rendering quality and efficiency, has emerged as a prominent technique in 3D scene representation. However, the substantial data volume of Gaussian splatting impedes its practical utility in…
3D Gaussian Splatting (3DGS) has become a state-of-the-art framework for real-time, high-fidelity novel view synthesis. However, its substantial storage requirements and inherently unstructured representation pose challenges for deployment…
Recent text-to-image diffusion models have reached an unprecedented level in generating high-quality images. However, their exclusive reliance on textual prompts often falls short in precise control of image compositions. In this paper, we…
3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…
Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…