7 papers
Benchmarking the Effects of Object Pose Estimation and Reconstruction on Robotic Grasping Success
Varun Burde, Pavel Burget, Torsten Sattler
3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction me…
Remove360: Benchmarking Residuals After Object Removal in 3D Gaussian Splatting
Simona Kocour, Assia Benbihi, Torsten Sattler
An object can disappear from a 3D scene, yet still be detectable. Even after visual removal, modern vision models may infer what was originally present. In this work, we introduce…
LODGE: Level-of-Detail Large-Scale Gaussian Splatting with Efficient Rendering
Jonas Kulhanek, Marie-Julie Rakotosaona, Fabian Manhardt +5
In this work, we present a novel level-of-detail (LOD) method for 3D Gaussian Splatting that enables real-time rendering of large-scale scenes on memory-constrained devices. Our ap…
Large-scale visual SLAM for in-the-wild videos
Shuo Sun, Torsten Sattler, Malcolm Mielle +2
Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimatio…
Is there anything left? Measuring semantic residuals of objects removed from 3D Gaussian Splatting
Simona Kocour, Assia Benbihi, Aikaterini Adam +1
Searching in and editing 3D scenes has become extremely intuitive with trainable scene representations that allow linking human concepts to elements in the scene. These operations…
EdgeGaussians -- 3D Edge Mapping via Gaussian Splatting
Kunal Chelani, Assia Benbihi, Torsten Sattler +1
With their meaningful geometry and their omnipresence in the 3D world, edges are extremely useful primitives in computer vision. 3D edges comprise of lines and curves, and methods…
Has Anything Changed? 3D Change Detection by 2D Segmentation Masks
Aikaterini Adam, Konstantinos Karantzalos, Lazaros Grammatikopoulos +1
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their…