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cs.RO2024
ActiveGS: Active Scene Reconstruction Using Gaussian Splatting
Liren Jin, Xingguang Zhong, Yue Pan +3
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene…
cs.RO2024
STAIR: Semantic-Targeted Active Implicit Reconstruction
Liren Jin, Haofei Kuang, Yue Pan +2
Many autonomous robotic applications require object-level understanding when deployed. Actively reconstructing objects of interest, i.e. objects with specific semantic meanings, is…
cs.RO2024
Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning
Sicong Pan, Liren Jin, Xuying Huang +3
Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations…