Related papers: Speedy MASt3R

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

We introduce MEt3R, a metric for multi-view consistency in generated images. Large-scale generative models for multi-view image generation are rapidly advancing the field of 3D inference from sparse observations. However, due to the nature…

Digitising the 3D world into a clean, CAD model-based representation has important applications for augmented reality and robotics. Current state-of-the-art methods are computationally intensive as they individually encode each detected…

Recent advances in 3D Gaussian Splatting (3DGS) present two main directions: feed-forward models offer fast inference in sparse-view settings, while per-scene optimization yields high-quality renderings but is computationally expensive. To…

We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is robust on in-the-wild video sequences despite making no…

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…

We present a novel method for efficiently producing semi-dense matches across images. Previous detector-free matcher LoFTR has shown remarkable matching capability in handling large-viewpoint change and texture-poor scenarios but suffers…

Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…

Feed-forward 3D reconstruction models based on Vision Transformers can directly estimate scene geometry and camera poses from a small set of input images, but scaling them to video inputs with hundreds or thousands of frames remains…

This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…

Given the image collection of an object, we aim at building a real-time image-based pose estimation method, which requires neither its CAD model nor hours of object-specific training. Recent NeRF-based methods provide a promising solution…

This paper presents X3D, a family of efficient video networks that progressively expand a tiny 2D image classification architecture along multiple network axes, in space, time, width and depth. Inspired by feature selection methods in…

Current multi-view 3D reconstruction methods rely on accurate camera calibration and pose estimation, requiring complex and time-intensive pre-processing that hinders their practical deployment. To address this challenge, we introduce…

In this paper, we introduce Splatt3R, a pose-free, feed-forward method for in-the-wild 3D reconstruction and novel view synthesis from stereo pairs. Given uncalibrated natural images, Splatt3R can predict 3D Gaussian Splats without…

Rendering realistic images from 3D reconstruction is an essential task of many Computer Vision and Robotics pipelines, notably for mixed-reality applications as well as training autonomous agents in simulated environments. However, the…

In this work, we address the task of 3D reconstruction in dynamic scenes, where object motions frequently degrade the quality of previous 3D pointmap regression methods, such as DUSt3R, that are originally designed for static 3D scene…

We present Light3R-SfM, a feed-forward, end-to-end learnable framework for efficient large-scale Structure-from-Motion (SfM) from unconstrained image collections. Unlike existing SfM solutions that rely on costly matching and global…

We propose Flash3D, a method for scene reconstruction and novel view synthesis from a single image which is both very generalisable and efficient. For generalisability, we start from a "foundation" model for monocular depth estimation and…

3D shape completion has broad applications in robotics, digital twin reconstruction, and extended reality (XR). Although recent advances in 3D object and scene completion have achieved impressive results, existing methods lack 3D…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…