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The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Generating high-quality 3D assets from textual descriptions remains a pivotal challenge in computer graphics and vision research. Due to the scarcity of 3D data, state-of-the-art approaches utilize pre-trained 2D diffusion priors, optimized…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…

The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previous methods focus on the learning of object-level…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view synthesis and thus is attractive for data generation.…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate modeling of dynamic urban scenes, but for urban scenes they…

Event based cameras are a new passive sensing modality with a number of benefits over traditional cameras, including extremely low latency, asynchronous data acquisition, high dynamic range and very low power consumption. There has been a…

We propose an efficient multi-view stereo (MVS) network for infering depth value from multiple RGB images. Recent studies have shown that mapping the geometric relationship in real space to neural network is an essential topic of the MVS…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Recent GS-based rendering has made significant progress for LiDAR, surpassing Neural Radiance Fields (NeRF) in both quality and speed. However, these methods exhibit artifacts in extrapolated novel view synthesis due to the incomplete…

Generative image steganography is a technique that conceals secret messages within generated images, without relying on pre-existing cover images. Recently, a number of diffusion model-based generative image steganography (DM-GIS) methods…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints…

In this paper, we propose an efficient feature pruning strategy for 3D small object detection. Conventional 3D object detection methods struggle on small objects due to the weak geometric information from a small number of points. Although…

Stereo matching is a core component in many computer vision and robotics systems. Despite significant advances over the last decade, handling matching ambiguities in ill-posed regions and large disparities remains an open challenge. In this…

Many objects are naturally symmetric, and this symmetry can be exploited to infer unseen 3D properties from a single 2D image. Recently, NeRD is proposed for accurate 3D mirror plane estimation from a single image. Despite the unprecedented…

Learning-based multi-view stereo (MVS) methods deal with predicting accurate depth maps to achieve an accurate and complete 3D representation. Despite the excellent performance, existing methods ignore the fact that a suitable depth…