6 papers
GRLoc: Geometric Representation Regression for Visual Localization
Changyang Li, Xuejian Ma, Lixiang Liu +3
Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose…
FluSplat: Sparse-View 3D Editing without Test-Time Optimization
Haitao Huang, Shin-Fang Chng, Huangying Zhan +2
Recent advances in text-guided image editing and 3D Gaussian Splatting (3DGS) have enabled high-quality 3D scene manipulation. However, existing pipelines rely on iterative edit-an…
FAST3DIS: Feed-forward Anchored Scene Transformer for 3D Instance Segmentation
Changyang Li, Xueqing Huang, Shin-Fang Chng +3
While recent feed-forward 3D reconstruction models provide a strong geometric foundation for scene understanding, extending them to 3D instance segmentation typically relies on a d…
Understanding while Exploring: Semantics-driven Active Mapping
Liyan Chen, Huangying Zhan, Hairong Yin +2
Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an a…
Semantic Consistent Language Gaussian Splatting for Point-Level Open-vocabulary Querying
Hairong Yin, Huangying Zhan, Yi Xu +1
Open-vocabulary 3D scene understanding is crucial for robotics applications, such as natural language-driven manipulation, human-robot interaction, and autonomous navigation. Exist…
RLGS: Reinforcement Learning-Based Adaptive Hyperparameter Tuning for Gaussian Splatting
Zhan Li, Huangying Zhan, Changyang Li +2
Hyperparameter tuning in 3D Gaussian Splatting (3DGS) is a labor-intensive and expert-driven process, often resulting in inconsistent reconstructions and suboptimal results. We pro…