4 papers
SEAR: Simple and Efficient Adaptation of Visual Geometric Transformers for Unpaired RGB+Thermal 3D Reconstruction
Vsevolod Skorokhodov, Chenghao Xu, Shuo Sun +2
Foundational feed-forward visual geometry models enable accurate and efficient camera pose estimation and scene reconstruction by learning strong scene priors from massive RGB data…
Dense Dynamic Scene Reconstruction and Camera Pose Estimation from Multi-View Videos
Shuo Sun, Unal Artan, Malcolm Mielle +2
We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when mult…
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…
High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization
Shuo Sun, Malcolm Mielle, Achim J. Lilienthal +1
We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first prop…