8 papers
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…
FMimic: Foundation Models are Fine-grained Action Learners from Human Videos
Guangyan Chen, Meiling Wang, Te Cui +8
Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vis…
Automated 3D-GS Registration and Fusion via Skeleton Alignment and Gaussian-Adaptive Features
Shiyang Liu, Dianyi Yang, Yu Gao +3
In recent years, 3D Gaussian Splatting (3D-GS)-based scene representation demonstrates significant potential in real-time rendering and training efficiency. However, most existing…
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…
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…