7 papers
GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction
Yedong Shen, Shiqi Zhang, Sha Zhang +6
Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches t…
SpatialSplat: Efficient Semantic 3D from Sparse Unposed Images
Yu Sheng, Jiajun Deng, Xinran Zhang +4
A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate se…
GS-Share: Enabling High-fidelity Map Sharing with Incremental Gaussian Splatting
Xinran Zhang, Hanqi Zhu, Yifan Duan +1
Constructing and sharing 3D maps is essential for many applications, including autonomous driving and augmented reality. Recently, 3D Gaussian splatting has emerged as a promising…
UrgenGo: Urgency-Aware Transparent GPU Kernel Launching for Autonomous Driving
Hanqi Zhu, Wuyang Zhang, Xinran Zhang +5
The rapid advancements in autonomous driving have introduced increasingly complex, real-time GPU-bound tasks critical for reliable vehicle operation. However, the proprietary natur…
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
Yifan Duan, Heng Li, Yilong Wu +5
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However,…
MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
Yilong Wu, Yifan Duan, Yuxi Chen +5
Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose…