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We consider the visual disambiguation task of determining whether a pair of visually similar images depict the same or distinct 3D surfaces (e.g., the same or opposite sides of a symmetric building). Illusory image matches, where two images…
The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different…
While 3D Gaussian Splatting (3DGS) achieves real-time photorealistic rendering, its performance degrades significantly when training images contain transient objects that violate multi-view consistency. Existing methods face a circular…
Image Matching is a core component of all best-performing algorithms and pipelines in 3D vision. Yet despite matching being fundamentally a 3D problem, intrinsically linked to camera pose and scene geometry, it is typically treated as a 2D…
DUSt3R introduced a novel paradigm in geometric computer vision by proposing a model that can provide dense and unconstrained Stereo 3D Reconstruction of arbitrary image collections with no prior information about camera calibration nor…
Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…
State-of-the-art 3D computer vision algorithms continue to advance in handling sparse, unordered image sets. Recently developed foundational models for 3D reconstruction, such as Dense and Unconstrained Stereo 3D Reconstruction (DUSt3R),…
Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…
In 3D reconstruction of underwater scenes, traditional methods based on atmospheric optical models cannot effectively deal with the selective attenuation of light wavelengths and the effect of suspended particle scattering, which are unique…
Multi-view 3D reconstruction, namely, structure-from-motion followed by multi-view stereo, is a fundamental component of 3D computer vision. In general, multi-view 3D reconstruction suffers from an unknown scale ambiguity unless a reference…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
Recent sparse multi-view scene reconstruction advances like DUSt3R and MASt3R no longer require camera calibration and camera pose estimation. However, they only process a pair of views at a time to infer pixel-aligned pointmaps. When…
Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…
Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…
Image-based 3D reconstruction is one of the most important tasks in Computer Vision with many solutions proposed over the last few decades. The objective is to extract metric information i.e. the geometry of scene objects directly from…
Effectively parsing the facade is essential to 3D building reconstruction, which is an important computer vision problem with a large amount of applications in high precision map for navigation, computer aided design, and city generation…
Multi-view 3D reconstruction remains a core challenge in computer vision, particularly in applications requiring accurate and scalable representations across diverse perspectives. Current leading methods such as DUSt3R employ a…
Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally,…