5 papers
SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception
Liang Hong, Jiaxin Wei, Simon Schaefer +2
Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches base…
GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting
Jiaxin Wei, Stefan Leutenegger, Simon Schaefer
Recent developments in 3D Gaussian Splatting have significantly enhanced novel view synthesis, yet generating high-quality renderings from extreme novel viewpoints or partially obs…
GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion
Jiaxin Wei, Stefan Leutenegger
Traditional volumetric fusion algorithms preserve the spatial structure of 3D scenes, which is beneficial for many tasks in computer vision and robotics. However, they often lack r…
DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image
Daoyi Gao, Dávid Rozenberszki, Stefan Leutenegger +1
Perceiving 3D structures from RGB images based on CAD model primitives can enable an effective, efficient 3D object-based representation of scenes. However, current approaches rely…
AEPP: A Less-constrained EPP Solver for Pose Estimation with Anisotropic Scaling
Jiaxin Wei, Stefan Leutenegger, Laurent Kneip
Perspective--Point (PP) stands as a fundamental algorithm for pose estimation in various applications. In this paper, we present a new approach to the PP problem with rela…