Related papers: Formula-Supervised Visual-Geometric Pre-training

We propose a novel fine-grained cross-view localization method that estimates the 3 Degrees of Freedom pose of a ground-level image in an aerial image of the surroundings by matching fine-grained features between the two images. The pose is…

The significance of cross-view 3D geometric modeling capabilities for autonomous driving is self-evident, yet existing Vision-Language Models (VLMs) inherently lack this capability, resulting in their mediocre performance. While some…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…

In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

Formula-driven supervised learning (FDSL) has been shown to be an effective method for pre-training vision transformers, where ExFractalDB-21k was shown to exceed the pre-training effect of ImageNet-21k. These studies also indicate that…

Nowadays, robotics, AR, and 3D modeling applications attract considerable attention to single-view depth estimation (SVDE) as it allows estimating scene geometry from a single RGB image. Recent works have demonstrated that the accuracy of…

Existing approaches to vision-language pre-training (VLP) heavily rely on an object detector based on bounding boxes (regions), where salient objects are first detected from images and then a Transformer-based model is used for cross-modal…

Scene understanding based on 3D Gaussian Splatting (3DGS) has recently achieved notable advances. Although 3DGS related methods have efficient rendering capabilities, they fail to address the inherent contradiction between the anisotropic…

3D Visual Grounding (3DVG) seeks to locate target objects in 3D scenes using natural language descriptions, enabling downstream applications such as augmented reality and robotics. Existing approaches typically rely on labeled 3D data and…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Reconstructing 3D models from 2D images is one of the fundamental problems in computer vision. In this work, we propose a deep learning technique for 3D object reconstruction from a single image. Contrary to recent works that either use 3D…

Advanced visual localization techniques encompass image retrieval challenges and 6 Degree-of-Freedom (DoF) camera pose estimation, such as hierarchical localization. Thus, they must extract global and local features from input images.…

We study to generate novel views of indoor scenes given sparse input views. The challenge is to achieve both photorealism and view consistency. We present SparseGNV: a learning framework that incorporates 3D structures and image generative…

We introduce FaceGPT, a self-supervised learning framework for Large Vision-Language Models (VLMs) to reason about 3D human faces from images and text. Typical 3D face reconstruction methods are specialized algorithms that lack semantic…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Fine-grained visual classification (FGVC) is much more challenging than traditional classification tasks due to the inherently subtle intra-class object variations. Recent works mainly tackle this problem by focusing on how to locate the…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Feed-forward 3D reconstruction models, represented by Visual Geometry Grounded Transformer (VGGT), jointly predict multiple visual geometry tasks such as depth estimation, camera pose prediction, and point cloud reconstruction in a single…