Related papers: G3R: Gradient Guided Generalizable Reconstruction

Object-centric scene understanding is a fundamental challenge in computer vision. Existing approaches often rely on multi-stage pipelines that first apply pre-trained segmentors to extract individual objects, followed by per-object 3D…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled generalizable, on-the-fly reconstruction of sequential input views. However, existing methods often predict per-pixel Gaussians and combine Gaussians from all views as the scene…

Existing NeRF-based methods for large scene reconstruction often have limitations in visual quality and rendering speed. While the recent 3D Gaussian Splatting works well on small-scale and object-centric scenes, scaling it up to large…

3D reconstruction is vital for applications in autonomous driving, virtual reality, augmented reality, and the metaverse. Recent advancements such as Neural Radiance Fields(NeRF) and 3D Gaussian Splatting (3DGS) have transformed the field,…

3D Gaussian Splatting (3DGS) has shown promising performance in novel view synthesis. Previous methods adapt it to obtaining surfaces of either individual 3D objects or within limited scenes. In this paper, we make the first attempt to…

General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such as AR/VR, autonomous navigation, and robotics, only a single…

Reconstructing photo-realistic large-scale scenes from images, for example at city scale, is a long-standing problem in computer graphics. Neural rendering is an emerging technique that enables photo-realistic image synthesis from…

Neural rendering has garnered substantial attention owing to its capacity for creating realistic 3D scenes. However, its applicability to extensive scenes remains challenging, with limitations in effectiveness. In this work, we propose the…

We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…

In this study, we introduce BirdNeRF, an adaptation of Neural Radiance Fields (NeRF) designed specifically for reconstructing large-scale scenes using aerial imagery. Unlike previous research focused on small-scale and object-centric NeRF…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

While 3D Gaussian Splatting (3DGS) enables high-quality, real-time rendering for bounded scenes, its extension to large-scale urban environments gives rise to critical challenges in terms of geometric consistency, memory efficiency, and…

We present a framework that enables fast reconstruction and real-time rendering of urban-scale scenes while maintaining robustness against appearance variations across multi-view captures. Our approach begins with scene partitioning for…

This paper presents a novel approach for sparse 3D reconstruction by leveraging the expressive power of Neural Radiance Fields (NeRFs) and fast transfer of their features to learn accurate occupancy fields. Existing 3D reconstruction…

We propose a novel approach for 3D mesh reconstruction from multi-view images. Our method takes inspiration from large reconstruction models like LRM that use a transformer-based triplane generator and a Neural Radiance Field (NeRF) model…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

We present STream3R, a novel approach to 3D reconstruction that reformulates pointmap prediction as a decoder-only Transformer problem. Existing state-of-the-art methods for multi-view reconstruction either depend on expensive global…

We introduce G-CUT3R, a novel feed-forward approach for guided 3D scene reconstruction that enhances the CUT3R model by integrating prior information. Unlike existing feed-forward methods that rely solely on input images, our method…

A new passive approach called Generalized Scene Reconstruction (GSR) enables "generalized scenes" to be effectively reconstructed. Generalized scenes are defined to be "boundless" spaces that include non-Lambertian, partially transmissive,…