Related papers: Robust 4D Visual Geometry Transformer with Uncerta…
3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…
Parametric projections let analysts embed new points in real time, but input variations from measurement noise or data drift can produce unpredictable shifts in the 2D layout. Whether and where a projection is locally stable remains largely…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
This paper presents VGGT-360, a novel training-free framework for zero-shot, geometry-consistent panoramic depth estimation. Unlike prior view-independent training-free approaches, VGGT-360 reformulates the task as panoramic reprojection…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…
Creating deformable 3D content has gained increasing attention with the rise of text-to-image and image-to-video generative models. While these models provide rich semantic priors for appearance, they struggle to capture the physical…
Understanding dynamic scenes from casual videos is critical for scalable robot learning, yet four-dimensional (4D) reconstruction under strictly monocular settings remains highly ill-posed. To address this challenge, our key insight is that…
The process of 3D scene reconstruction can be affected by numerous uncertainty sources in real-world scenes. While Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (GS) achieve high-fidelity rendering, they lack built-in mechanisms…
Topology change is a challenging problem for 4D reconstruction of dynamic scenes. In the classic volumetric fusion-based framework, a mesh is usually extracted from the TSDF volume as the canonical surface representation to help estimating…
Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…
The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…
In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…
Representing 3D scenes from multiview images is a core challenge in computer vision and graphics, which requires both precise rendering and accurate reconstruction. Recently, 3D Gaussian Splatting (3DGS) has garnered significant attention…
Recent advancements in multi-view 3D reconstruction and novel-view synthesis, particularly through Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have greatly enhanced the fidelity and efficiency of 3D content creation.…
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…
This paper introduces a general approach to dynamic scene reconstruction from multiple moving cameras without prior knowledge or limiting constraints on the scene structure, appearance, or illumination. Existing techniques for dynamic scene…
While 3D Gaussian Splatting (3DGS) excels in static scene modeling, its extension to dynamic scenes introduces significant challenges. Existing dynamic 3DGS methods suffer from either over-smoothing due to low-rank decomposition or feature…
Real objects that inhabit the physical world follow physical laws and thus behave plausibly during interaction with other physical objects. However, current methods that perform 3D reconstructions of real-world scenes from multi-view 2D…
Geometry estimation from perspective images has greatly advanced, maturing to the point where off-the-shelf foundation models are able to reconstruct 3D scene structure not only from multi-view imagery, but even from a single view. A…