5 papers · 1 filter
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…
DynaNav: Dynamic Feature and Layer Selection for Efficient Visual Navigation
Jiahui Wang, Changhao Chen
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overh…
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…
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…