Related papers: D$^2$USt3R: Enhancing 3D Reconstruction for Dynami…
With the popularity of monocular videos generated by video sharing and live broadcasting applications, reconstructing and editing dynamic scenes in stationary monocular cameras has become a special but anticipated technology. In contrast to…
Dense matching methods like DUSt3R regress pairwise pointmaps for 3D reconstruction. However, the reliance on pairwise prediction and the limited generalization capability inherently restrict the global geometric consistency. In this work,…
Reconstructing and decomposing dynamic urban scenes is crucial for autonomous driving, urban planning, and scene editing. However, existing methods fail to perform instance-aware decomposition without manual annotations, which is crucial…
3D shape reconstruction is a primary component of augmented/virtual reality. Despite being highly advanced, existing solutions based on RGB, RGB-D and Lidar sensors are power and data intensive, which introduces challenges for deployment in…
We study the problem of single-image 3D object reconstruction. Recent works have diverged into two directions: regression-based modeling and generative modeling. Regression methods efficiently infer visible surfaces, but struggle with…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
Characterization of uncooperative Resident Space Objects (RSO) play a crucial role in On-Orbit Servicing (OOS) and Active Debris Removal (ADR) missions to assess the geometry and motion properties. To address the challenges of…
Stereo videos for the dynamic scenes often show unpleasant blurred effects due to the camera motion and the multiple moving objects with large depth variations. Given consecutive blurred stereo video frames, we aim to recover the latent…
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…
We present CogniMap3D, a bioinspired framework for dynamic 3D scene understanding and reconstruction that emulates human cognitive processes. Our approach maintains a persistent memory bank of static scenes, enabling efficient spatial…
Room layout estimation from multiple-perspective images is poorly investigated due to the complexities that emerge from multi-view geometry, which requires muti-step solutions such as camera intrinsic and extrinsic estimation, image…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
We propose the problem of point-level 3D scene interpolation, which aims to simultaneously reconstruct a 3D scene in two states from multiple views, synthesize smooth point-level interpolations between them, and render the scene from novel…
We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…
Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments remains challenging. Most methods directly remove dynamic…
We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…
This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such as requiring precise camera poses for input and dense…
Reconstructing models of the real world, including 3D geometry, appearance, and motion of real scenes, is essential for computer graphics and computer vision. It enables the synthesizing of photorealistic novel views, useful for the movie…
Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…
Reconstructing dynamic 3D scenes from monocular videos requires simultaneously capturing high-frequency appearance details and temporally continuous motion. Existing methods using single Gaussian primitives are limited by their low-pass…