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Scaling has powered recent advances in vision foundation models, yet extending this paradigm to metric depth estimation remains challenging due to heterogeneous sensor noise, camera-dependent biases, and metric ambiguity in noisy…
Most 3D reconstruction methods may only recover scene properties up to a global scale ambiguity. We present a novel approach to single view metrology that can recover the absolute scale of a scene represented by 3D heights of objects or…
Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks such as grasping that require precise…
Recent advances in vision-language modeling have produced promptable detection and segmentation systems that accept arbitrary natural language queries at inference time. Among these, SAM3 achieves state-of-the-art accuracy by combining a…
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…
We show that generative models can be used to capture visual geometry constraints statistically. We use this fact to infer the 3D shape of object categories from raw single-view images. Differently from prior work, we use no external…
Monocular depth estimation (MDE), inferring pixel-level depths in single RGB images from a monocular camera, plays a crucial and pivotal role in a variety of AI applications demanding a three-dimensional (3D) topographical scene. In the…
Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…
We present a learning framework that learns to recover the 3D shape, pose and texture from a single image, trained on an image collection without any ground truth 3D shape, multi-view, camera viewpoints or keypoint supervision. We approach…
Existing monocular depth estimation methods have achieved excellent robustness in diverse scenes, but they can only retrieve affine-invariant depth, up to an unknown scale and shift. However, in some video-based scenarios such as video…
The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…
Vision-Language-Action (VLA) models often fail to generalize to unseen camera viewpoints, a limitation stemming from their difficulty in inferring robust 3D geometry from 2D images. We introduce GeoAware-VLA, a simple yet effective approach…
Although existing monocular depth estimation methods have made great progress, predicting an accurate absolute depth map from a single image is still challenging due to the limited modeling capacity of networks and the scale ambiguity…
Current 3D scene understanding methods are limited by offline-collected multi-view data or pre-constructed 3D geometry. In this paper, we present ExtractAnything3D (EA3D), a unified online framework for open-world 3D object extraction that…
Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…
Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…
Monocular depth estimation (MDE) is a critical component of many medical tracking and mapping algorithms, particularly from endoscopic or laparoscopic video. However, because ground truth depth maps cannot be acquired from real patient…
Monocular 3D object detection is an important task in autonomous driving. It can be easily intractable where there exists ego-car pose change w.r.t. ground plane. This is common due to the slight fluctuation of road smoothness and slope.…
A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…