Zhenhua Du

Zhenhua Du, Zhen Tan, Haoyu Zhang et al.

While 3D Gaussian Splatting has achieved remarkable success in photorealistic novel view synthesis, its pursuit of fast and high-fidelity 3D reconstruction has long been constrained by a trade-off between geometric accuracy and optimization efficiency. Methods specialized in image rendering converge quickly at the cost of imperfect geometry caused by superfluous primitives overfitting training views, while methods integrating neural signed-distance field (SDF) for better geometry incur prohibitive training costs. In this paper, we attempt to strike a better trade-off by tethering scaffold-anchored Gaussians to a jointly optimized sparse voxel scaffold. This hybrid Gaussian-Voxel representation explicitly confines anchored Gaussians to a narrow band around surfaces defined by voxelized SDFs, which effectively improves representation efficiency and condenses floating Gaussians without sacrificing geometry quality. An implicit surface tethering loss further pulls individual Gaussian primitives closer to SDF-induced surfaces in a mutually regularized manner for improved reconstruction accuracy. Extensive experiments on diverse real-world indoor scenes from ScanNet++, ScanNetv2, and DeepBlending datasets demonstrate that our method achieves state-of-the-art surface reconstruction quality as well as superior novel view synthesis against leading baselines, while maintaining fast training convergence and real-time rendering. Code will be available at https://github.com/duzh11/VoxelGS.

Liu Liu, Shuaifeng Zhi, Zhenhua Du et al.

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing data, which lack of semantic and structural information of scenes. To tackle this problem, camera and Radar sensor fusion has been investigated as a trending strategy with low cost, high reliability and strong maintenance. While most recent works explore how to explore Radar point clouds and images, rich contextual information within Radar observation are discarded. In this paper, we propose a hybrid point-wise Radar-Optical fusion approach for object detection in autonomous driving scenarios. The framework benefits from dense contextual information from both the range-doppler spectrum and images which are integrated to learn a multi-modal feature representation. Furthermore, we propose a novel local coordinate formulation, tackling the object detection task in an object-centric coordinate. Extensive results show that with the information gained from optical images, we could achieve leading performance in object detection (97.69\% recall) compared to recent state-of-the-art methods FFT-RadNet (82.86\% recall). Ablation studies verify the key design choices and practicability of our approach given machine generated imperfect detections. The code will be available at https://github.com/LiuLiu-55/ROFusion.

Zhenhua Du, Binbin Xu, Haoyu Zhang et al.

Accurately reconstructing dense and semantically annotated 3D meshes from monocular images remains a challenging task due to the lack of geometry guidance and imperfect view-dependent 2D priors. Though we have witnessed recent advancements in implicit neural scene representations enabling precise 2D rendering simply from multi-view images, there have been few works addressing 3D scene understanding with monocular priors alone. In this paper, we propose MOSE, a neural field semantic reconstruction approach to lift inferred image-level noisy priors to 3D, producing accurate semantics and geometry in both 3D and 2D space. The key motivation for our method is to leverage generic class-agnostic segment masks as guidance to promote local consistency of rendered semantics during training. With the help of semantics, we further apply a smoothness regularization to texture-less regions for better geometric quality, thus achieving mutual benefits of geometry and semantics. Experiments on the ScanNet dataset show that our MOSE outperforms relevant baselines across all metrics on tasks of 3D semantic segmentation, 2D semantic segmentation and 3D surface reconstruction.