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Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Reconstructing accurate surfaces with radiance fields has progressed rapidly, yet two promising explicit representations, 3D Gaussian Splatting and sparse-voxel rasterization, exhibit complementary strengths and weaknesses. 3D Gaussian…
Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…
Volume-based indoor scene reconstruction methods offer superior generalization capability and real-time deployment potential. However, existing methods rely on multi-view pixel back-projection ray intersections as weak geometric constraints…
Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…
The 3D point cloud representation plays a crucial role in preserving the geometric fidelity of the physical world, enabling more accurate complex 3D environments. While humans naturally comprehend the intricate relationships between objects…
Floorplans provide a compact representation of the building's structure, revealing not only layout information but also detailed semantics such as the locations of windows and doors. However, contemporary floorplan localization techniques…
In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to render a synthetic RGBD image at some initial pose estimate.…
3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…
Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…
Scene generation with 3D assets presents a complex challenge, requiring both high-level semantic understanding and low-level geometric reasoning. While Multimodal Large Language Models (MLLMs) excel at semantic tasks, their application to…
We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…
Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…
Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…
This paper studies the problem of holistic 3D wireframe perception (HoW-3D), a new task of perceiving both the visible 3D wireframes and the invisible ones from single-view 2D images. As the non-front surfaces of an object cannot be…
Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largely ignore this semantic information. To address this, we…
Stereoscopic projection mapping (PM) allows a user to see a three-dimensional (3D) computer-generated (CG) object floating over physical surfaces of arbitrary shapes around us using projected imagery. However, the current stereoscopic PM…
Though recent advances in vision-language models (VLMs) have achieved remarkable progress across a wide range of multimodal tasks, understanding 3D spatial relationships from limited views remains a significant challenge. Previous reasoning…