16 papers
PaMoSplat: Part-Aware Motion-Guided Gaussian Splatting for Dynamic Scene Reconstruction
Yinan Deng, Jianyu Dou, Jiahui Wang +3
Dynamic scene reconstruction represents a fundamental yet demanding challenge in computer vision and robotics. While recent progress in 3DGS-based methods has advanced dynamic scen…
FilterGS: Traversal-Free Parallel Filtering and Adaptive Shrinking for Large-Scale LoD 3D Gaussian Splatting
Yixian Wang, Haolin Yu, Jiadong Tang +4
3D Gaussian Splatting has revolutionized neural rendering with real-time performance. However, scaling this approach to large scenes using Level-of-Detail methods faces critical ch…
GLUE: Global-Local Unified Encoding for Imitation Learning via Key-Patch Tracking
Ye Chen, Zichen Zhou, Jianyu Dou +3
In recent years, visual representation learning has gained widespread attention in robotic imitation learning. However, in complex Out-of-Distribution(OOD) settings characterized b…
OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics
Yinan Deng, Yufeng Yue, Jianyu Dou +5
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric…
OpenMulti: Open-Vocabulary Instance-Level Multi-Agent Distributed Implicit Mapping
Jianyu Dou, Yinan Deng, Jiahui Wang +3
Multi-agent distributed collaborative mapping provides comprehensive and efficient representations for robots. However, existing approaches lack instance-level awareness and semant…
MCOO-SLAM: A Multi-Camera Omnidirectional Object SLAM System
Miaoxin Pan, Jinnan Li, Yaowen Zhang +2
Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most e…
DroneSplat: 3D Gaussian Splatting for Robust 3D Reconstruction from In-the-Wild Drone Imagery
Jiadong Tang, Yu Gao, Dianyi Yang +3
Drones have become essential tools for reconstructing wild scenes due to their outstanding maneuverability. Recent advances in radiance field methods have achieved remarkable rende…
GaussianGraph: 3D Gaussian-based Scene Graph Generation for Open-world Scene Understanding
Xihan Wang, Dianyi Yang, Yu Gao +3
Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. H…
OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding
Dianyi Yang, Yu Gao, Xihan Wang +3
Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by l…
OpenVox: Real-time Instance-level Open-vocabulary Probabilistic Voxel Representation
Yinan Deng, Bicheng Yao, Yihang Tang +2
In recent years, vision-language models (VLMs) have advanced open-vocabulary mapping, enabling mobile robots to simultaneously achieve environmental reconstruction and high-level s…
LCP-Fusion: A Neural Implicit SLAM with Enhanced Local Constraints and Computable Prior
Jiahui Wang, Yinan Deng, Yi Yang +1
Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nev…
Open-RGBT: Open-vocabulary RGB-T Zero-shot Semantic Segmentation in Open-world Environments
Meng Yu, Luojie Yang, Xunjie He +2
Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenario…
OpenObj: Open-Vocabulary Object-Level Neural Radiance Fields with Fine-Grained Understanding
Yinan Deng, Jiahui Wang, Jingyu Zhao +3
In recent years, there has been a surge of interest in open-vocabulary 3D scene reconstruction facilitated by visual language models (VLMs), which showcase remarkable capabilities…
Joint Conditional Diffusion Model for Image Restoration with Mixed Degradations
Yufeng Yue, Meng Yu, Luojie Yang +1
Image restoration is rather challenging in adverse weather conditions, especially when multiple degradations occur simultaneously. Blind image decomposition was proposed to tackle…
LGSDF: Continual Global Learning of Signed Distance Fields Aided by Local Updating
Yufeng Yue, Yinan Deng, Jiahui Wang +1
Implicit reconstruction of ESDF (Euclidean Signed Distance Field) involves training a neural network to regress the signed distance from any point to the nearest obstacle, which ha…
OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments
Yinan Deng, Jiahui Wang, Jingyu Zhao +4
Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out…